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45 lines
1.2 KiB
45 lines
1.2 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version="1.9">
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<model name="flat_platform">
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<link name="platform_link">
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<visual name="platform_visual">
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<geometry>
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<box>
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<size>5 5 0.1</size>
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</box>
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</geometry>
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<material>
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<ambient>0.3 0.3 0.3 1</ambient>
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<diffuse>0.3 0.3 0.3 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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</material>
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</visual>
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<collision name="platform_collision">
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<geometry>
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<box>
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<size>5 5 0.1</size>
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</box>
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</geometry>
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</collision>
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<pose>0 0 2 0 0 0</pose>
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<inertial>
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<mass>10000</mass>
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<inertia>
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<ixx>10000</ixx>
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<iyy>10000</iyy>
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<izz>10000</izz>
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</inertia>
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</inertial>
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<sensor name="navsat_sensor" type="navsat">
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<gz_frame_id>platform_link</gz_frame_id>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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</sensor>
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</link>
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<plugin
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filename="libMovingPlatformController.so"
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name="custom::MovingPlatformController">
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<link_name>platform_link</link_name>
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</plugin>
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</model>
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</sdf>
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