gazebo_ros_p3d_demo.world

<?xml version="1.0"?>
<!--
  Gazebo ROS P3D plugin demo

  Try for example:

  ros2 topic echo /demo/p3d_demo
-->
<sdf version="1.6">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="the_model">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="box_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>
      </link>
      <link name="sphere_link">
        <pose>3 0 0 0 0 0</pose>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </visual>
      </link>
      <plugin name="gazebo_ros_p3d" filename="libgazebo_ros_p3d.so">
        <ros>
          <namespace>/demo</namespace>
          <argument>odom:=p3d_demo</argument>
        </ros>
        <body_name>box_link</body_name>
        <frame_name>sphere_link</frame_name>
        <update_rate>1</update_rate>
        <xyz_offsets>10 10 10</xyz_offsets>
        <rpy_offsets>0.1 0.1 0.1</rpy_offsets>
        <gaussian_noise>0.01</gaussian_noise>
      </plugin>
    </model>
  </world>
</sdf>