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92 lines
2.8 KiB
92 lines
2.8 KiB
<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="gps">
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<link name="link">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.015</mass>
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<inertia>
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<ixx>1e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-05</iyy>
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<iyz>0</iyz>
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<izz>1e-05</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.01</radius>
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<length>0.002</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Black</name>
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</script>
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</material>
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</visual>
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<sensor name="gps" type="gps">
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<pose>0 0 0 0 0 0</pose>
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<update_rate>5.0</update_rate>
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<always_on>true</always_on>
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<visualize>false</visualize>
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<!-- GpsSensor noise currently not used -->
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<!-- <gps>
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<position_sensing>
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<horizontal>
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<noise type="gaussian_quantized">
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<mean>0</mean>
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<stddev>1</stddev>
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<bias_mean>3</bias_mean>
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<bias_stddev>1</bias_stddev>
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<precision>0.5</precision>
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</noise>
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</horizontal>
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<vertical>
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<noise type="gaussian_quantized">
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<mean>0</mean>
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<stddev>1</stddev>
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<bias_mean>3</bias_mean>
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<bias_stddev>1</bias_stddev>
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<precision>1.0</precision>
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</noise>
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</vertical>
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</position_sensing>
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<velocity_sensing>
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<horizontal>
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<noise type="gaussian_quantized">
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<mean>0</mean>
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<stddev>0.1</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.1</bias_stddev>
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<precision>0.1</precision>
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</noise>
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</horizontal>
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<vertical>
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<noise type="gaussian_quantized">
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<mean>0</mean>
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<stddev>0.2</stddev>
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<bias_mean>0.2</bias_mean>
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<bias_stddev>0.2</bias_stddev>
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<precision>0.2</precision>
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</noise>
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</vertical>
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</velocity_sensing>
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</gps> -->
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<plugin name="gps_plugin" filename="libgazebo_gps_plugin.so">
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<robotNamespace></robotNamespace>
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<gpsNoise>true</gpsNoise>
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<gpsXYRandomWalk>2.0</gpsXYRandomWalk>
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<gpsZRandomWalk>4.0</gpsZRandomWalk>
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<gpsXYNoiseDensity>2.0e-4</gpsXYNoiseDensity>
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<gpsZNoiseDensity>4.0e-4</gpsZNoiseDensity>
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<gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
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<gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
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</plugin>
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</sensor>
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</link>
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</model>
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</sdf>
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