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flat_seabed.sdf
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<?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="flat_seabed">
<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>
<model name="sea_bottom">
<static>true</static>
<pose>0 0 -100 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<!-- 300 km x 300 km -->
<size>300000 300000</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<material>
<ambient>0.5 0.5 0.5</ambient>
<diffuse>0.5 0.5 0.5</diffuse>
</material>
<geometry>
<plane>
<normal>0 0 1</normal>
<!-- 300 km x 300 km -->
<size>300000 300000</size>
</plane>
</geometry>
</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>