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add ft sensor plugin to sdf

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This commit is contained in:
Ilya Uraev 2023-08-23 16:48:10 +03:00
parent 478cde4e32
commit 653890491c
1 changed files with 6 additions and 5 deletions
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11
rbs_simulation/worlds/mir.sdf
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@ -12,7 +12,8 @@
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/> <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
<plugin name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system"> <plugin name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
<render_engine>ogre2</render_engine> <render_engine>ogre2</render_engine>
</plugin> </plugin>
<plugin name='ignition::gazebo::systems::ForceTorque' filename='ignition-gazebo-forcetorque-system'/>
<gravity>0 0 -9.8</gravity> <gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/> <atmosphere type='adiabatic'/>
@ -54,7 +55,7 @@
<real_time_factor>true</real_time_factor> <real_time_factor>true</real_time_factor>
<iterations>true</iterations> <iterations>true</iterations>
</plugin> </plugin>
<plugin filename="ImageDisplay" name="Image Display 3"> <!-- <plugin filename="ImageDisplay" name="Image Display 3">
<ignition-gui> <ignition-gui>
<title>RGBD: image</title> <title>RGBD: image</title>
<property key="state" type="string">floating</property> <property key="state" type="string">floating</property>
@ -76,7 +77,7 @@
</ignition-gui> </ignition-gui>
<topic>rgbd_camera/depth_image</topic> <topic>rgbd_camera/depth_image</topic>
<topic_picker>false</topic_picker> <topic_picker>false</topic_picker>
</plugin> </plugin> -->
</gui> </gui>
<light type="directional" name="sun"> <light type="directional" name="sun">
<cast_shadows>true</cast_shadows> <cast_shadows>true</cast_shadows>
@ -264,7 +265,7 @@
<pose>-0.9 0 0.6250 0 0 0</pose> <pose>-0.9 0 0.6250 0 0 0</pose>
</include> --> </include> -->
<model name="camera"> <!-- <model name="camera">
<static>1</static> <static>1</static>
<pose>-2.0 -0.55 1.44 0 0.44 0.44</pose> <pose>-2.0 -0.55 1.44 0 0.44 0.44</pose>
<link name="link"> <link name="link">
@ -309,7 +310,7 @@
<topic>camera</topic> <topic>camera</topic>
</sensor> </sensor>
</link> </link>
</model> </model> -->
<!-- <model name="rgbd_camera"> <!-- <model name="rgbd_camera">
<static>1</static> <static>1</static>