.cfg
----------------------------------------------------
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
)
driver
(
name "gazebo"
provides ["position2d:0"]
gz_id "robot1"
)
driver
(
name "gazebo"
provides ["laser:0"]
gz_id "laser1"
)
driver
(
name "gazebo"
provides ["camera:0"]
gz_id "camera1"
)
driver
(
name "cmvision"
provides ["blobfinder:0"]
requires ["camera:0"]
colorfile "colors.txt"
)
----------------------------------------------
.world
----------------------------------------------------
<?xml version="1.0"?>
<gz:world xmlns:gz="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#params";
xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#params";>
<model:ObserverCam>
<id>userCam0</id>
<xyz>7 12 8</xyz>
<rpy>0 40 0</rpy>
<imageSize>640 480</imageSize>
<updateRate>10</updateRate>
<renderMethod>SGIX</renderMethod>
</model:ObserverCam>
<model:SkyDome>
<toneMap>skyTones.jpg</toneMap>
<timeLapse>true</timeLapse>
</model:SkyDome>
<model:LightSource>
<id>light1</id>
<xyz>150.000 150.000 400.00</xyz>
<ambientColor>1.7, 1.7, 1.7</ambientColor>
<diffuseColor>0.7, 0.7, 0.7</diffuseColor>
<specularColor>0.2, 0.2, 0.2</specularColor>
<attenuation>1.0, 0.0, 0.00</attenuation>
</model:LightSource>
<model:GroundPlane>
<id>ground1</id>
<color>0.0 0.5 0.0</color>
<textureFile>grid.ppm</textureFile>
</model:GroundPlane>
<model:Terrain>
<xyz>0.000 0.000 -0.100</xyz>
<terrainFile>4.gzb</terrainFile>
</model:Terrain>
<model:Pioneer2AT>
<id>robot1</id>
<xyz>15 10 0</xyz>
<model:SickLMS200>
<id>laser1</id>
<xyz>0.0 0.0 0.30</xyz>
</model:SickLMS200>
<model:SonyVID30>
<id>camera1</id>
<xyz>0.0 0.0 0.50</xyz>
</model:SonyVID30>
<model:TruthWidget>
<id>truthRobot</id>
</model:TruthWidget>
</model:Pioneer2AT>
<model:SimpleSolid>
<xyz>17 10 0</xyz>
<size>1 1.5 1.5</size>
<shape>box</shape>
<color>0 0 5</color>
<model:TruthWidget>
<id>truthBox</id>
</model:TruthWidget>
</model:SimpleSolid>
</gz:world>
--------------------------------------------------------------------------
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