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Use include model syntax for bluerov (#702)
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This commit uses a include syntax in sdf, instead of the cascaded model structure
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@Jaeyoung-Lim
Jaeyoung-Lim authored Jan 30, 2021
1 parent 663a553 commit e580bbc
Showing 1 changed file with 7 additions and 46 deletions.
53 changes: 7 additions & 46 deletions models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -33,53 +33,14 @@


<!-- GPS for getting the local pose -->
<model name='gps0'>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>2.1733e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.1733e-06</iyy>
<iyz>0</iyz>
<izz>1.8e-07</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.002</length>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<sensor name='gps' type='gps'>
<pose>0 0 0 0 0 0</pose>
<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
<robotNamespace/>
<gpsNoise>1</gpsNoise>
<gpsXYRandomWalk>2.0</gpsXYRandomWalk>
<gpsZRandomWalk>4.0</gpsZRandomWalk>
<gpsXYNoiseDensity>0.0002</gpsXYNoiseDensity>
<gpsZNoiseDensity>0.0004</gpsZNoiseDensity>
<gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
<gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
</plugin>
</sensor>
</link>
</model>
<joint name='gps0_joint' type='fixed'>
<include>
<uri>model://gps</uri>
<pose>0 0 0 0 0 0</pose>
<name>gps</name>
</include>
<joint name='gps_joint' type='fixed'>
<parent>base_link</parent>
<child>gps0::link</child>
<child>gps::link</child>
</joint>


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