drawing-robot-ros2/src/draw_svg/worlds/follow_target.sdf

<?xml version="1.0"?>
<sdf version="1.9">
  <world name="draw_svg_world">

    <!-- Physics -->
    <plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics">
      <engine>
        <filename>ignition-physics-dartsim-plugin</filename>
      </engine>
      <dart>
        <collision_detector>bullet</collision_detector>
      </dart>
    </plugin>
    <physics name="physics_config" type="dart">
      <max_step_size>0.005</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>

    <!-- Scene -->
    <plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>
    <scene>
      <ambient>0.8 0.8 0.8</ambient>
      <grid>false</grid>
    </scene>

    <!-- User Commands (transform control) -->
    <plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands">
    </plugin>


    <!--              -->
    <!-- Illumination -->
    <!--              -->
    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.3 0.3 -0.9</direction>
    </light>


    <!--        -->
    <!-- Models -->
    <!--        -->
    <!-- Ground -->
    <model name="ground_plane">
      <pose>0 0 0 0 0 0</pose>
      <static>true</static>
      <link name="ground_plane_link">
      <collision name="ground_plane_collision">
        <geometry>
          <plane>
            <normal>0 0 1</normal>
          </plane>
        </geometry>
      </collision>
      <visual name="ground_plane_visual">
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>4 4</size>
          </plane>
        </geometry>
        <material>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
        </material>
      </visual>
         </link>
    </model>
    <model name="drawing_surface">
      <pose>-0.14 -0.3 1.0 0 0 0</pose>
      <static>true</static>
      <link name="drawing_surface_link">
        <collision name="drawing_surface_collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>0.28 0.21</size>
            </plane>
          </geometry>
        </collision>
        <visual name="drawing_surface_visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>0.28 0.21</size>
            </plane>
          </geometry>
          <material>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>
    <!-- <include>
         <uri>model://ground_plane</uri>
         </include> -->
    <!-- <include>
         <uri>model://sun</uri>
         </include> -->
    <!-- <include>
         <uri>model://table</uri>
         <name>table</name>
         <pose>0.0 -0.84 0 0 0 0</pose>
         </include>
    -->
    <!-- Static target -->
    <!-- <model name="target">
         <static>true</static>
         <pose>0.5 -0.25 0.5 3.1415927 0 0</pose>
         <link name="target_link">
         <visual name="target_visual">
         <cast_shadows>false</cast_shadows>
         <geometry>
         <box>
         <size>0.04 0.04 0.04</size>
         </box>
         </geometry>
         <material>
         <diffuse>0.1 0.1 0.1 1</diffuse>
         <specular>0.4 0.4 0.4 1</specular>
         </material>
         </visual>
         </link>
    -->
      <!-- Pose publisher plugin, used to determine the target pose to reach -->
    <!-- <plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
         <publish_nested_model_pose>true</publish_nested_model_pose>
         <publish_link_pose>false</publish_link_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
         </plugin>
         </model> -->
    <!-- <plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
         <publish_link_pose>true</publish_link_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
         <publish_nested_model_pose>false</publish_nested_model_pose>
         </plugin> -->

  </world>
</sdf>