bottomless_pit.sdf

<?xml version="1.0" ?>
<!--
  Development of this module has been funded by the Monterey Bay Aquarium
  Research Institute (MBARI) and the David and Lucile Packard Foundation
-->
<sdf version="1.6">
  <world name="bottomless_pit">
    <scene>
      <!-- For turquoise ambient to match particle effect -->
      <ambient>0.0 1.0 1.0</ambient>
      <!-- For default gray ambient -->
      <background>0.0 0.7 0.8</background>

      <grid>false</grid>
    </scene>

    <physics name="1ms" type="dart">
      <max_step_size>0.02</max_step_size>
      <real_time_factor>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">
    </plugin>
    <plugin
      filename="gz-sim-dvl-system"
      name="gz::sim::systems::DopplerVelocityLogSystem">
    </plugin>
    <plugin
      filename="gz-sim-buoyancy-system"
      name="gz::sim::systems::Buoyancy">
      <uniform_fluid_density>1000</uniform_fluid_density>
    </plugin>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>1 1 1 1</diffuse>
      <specular>0.5 0.5 0.5 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>

    <!-- This invisible plane helps with orbiting the camera, especially at large scales -->
    <model name="horizontal_plane">
      <static>true</static>
      <link name="link">
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <!-- 300 km x 300 km -->
              <size>300000 300000</size>
            </plane>
          </geometry>
          <transparency>1.0</transparency>
        </visual>
      </link>
    </model>

    <include>
      <pose>0 0 -80 0 0 1.57</pose>
      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>

      <experimental:params>
        <sensor
            element_id="base_link" action="add"
            name="teledyne_pathfinder_dvl"
            type="custom" gz:type="dvl">
          <pose degrees="true">-0.60 0 -0.16 0 0 180</pose>
          <always_on>1</always_on>
          <update_rate>1</update_rate>
          <topic>/dvl/velocity</topic>
          <gz:dvl>
            <type>phased_array</type>
            <arrangement degrees="true">
              <beam id="1">
                <aperture>2</aperture>
                <rotation>45</rotation>
                <tilt>30</tilt>
              </beam>
              <beam>
                <aperture>2</aperture>
                <rotation>135</rotation>
                <tilt>30</tilt>
              </beam>
              <beam>
                <aperture>2</aperture>
                <rotation>-45</rotation>
                <tilt>30</tilt>
              </beam>
              <beam>
                <aperture>2</aperture>
                <rotation>-135</rotation>
                <tilt>30</tilt>
              </beam>
            </arrangement>
            <tracking>
              <bottom_mode>
                <when>best</when>
                <noise type="gaussian">
                  <!-- +/- 0.4 cm/s precision at 10 m/s within 2 stddevs -->
                  <stddev>0.002</stddev>
                </noise>
                <visualize>false</visualize>
              </bottom_mode>
            </tracking>
            <!-- Roughly 1 m resolution at a 100m -->
            <resolution>0.01</resolution>
            <maximum_range>100.</maximum_range>
            <minimum_range>0.1</minimum_range>
            <!-- ENU to SFM -->
            <reference_frame>0 0 0 0 0 -1.570796</reference_frame>
          </gz:dvl>
        </sensor>
      </experimental:params>
    </include>
  </world>
</sdf>