gazebo_ros_gps_sensor_demo.world

<?xml version="1.0"?>
<!--
  Gazebo ROS GPS plugin demo

  Try for example:

  ros2 topic echo /gps/data
-->
<sdf version="1.6">
  <world name="gazebo_ros_gps_sensor_world">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <spherical_coordinates>
        <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
        (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,
        therefore we rotate the default frame 180 so that it would go back to ENU -->
        <heading_deg>180</heading_deg>
    </spherical_coordinates>
    <model name="box">
      <pose>0 0 0.0 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <sensor name="my_gps" type="gps">
          <always_on>true</always_on>
          <update_rate>30</update_rate>
          <gps>
            <position_sensing>
              <horizontal>
                <noise type="gaussian">
                  <mean>0.0</mean>
                  <stddev>2e-4</stddev>
                </noise>
              </horizontal>
              <vertical>
                <noise type="gaussian">
                  <mean>0.0</mean>
                  <stddev>2e-4</stddev>
                </noise>
              </vertical>
            </position_sensing>
          </gps>
          <plugin name="my_gps_plugin" filename="libgazebo_ros_gps_sensor.so">
            <ros>
              <namespace>/gps</namespace>
              <argument>~/out:=data</argument>
            </ros>
          </plugin>
        </sensor>
      </link>
    </model>
  </world>
</sdf>