Gazebo仿真中.sdf/.world文件标签

1. .sdf 文件

详细代码：

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="cafe">
    <static>true</static>
    <link name="link">
      <collision name="main_floor">
        <pose>-0.4 -0.75 0.0948 0 0 0</pose>
        <geometry>
          <box>
            <size>9.38 22.63 0.19</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_1">
        <pose>-5.03 0.53 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>.12 23.16 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_2">
        <pose>4.24 -.31 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>.12 21.48 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_3">
        <pose>-1.48 7.43 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>7.2 0.12 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_4">
        <pose>2.09 8.9 1.435 0 0 0</pose>
        <geometry>
          <box>
            <size>0.12 3.05 2.87</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_5">
        <pose>3.155 10.4 1.435 0 0 0</pose>
        <geometry>
          <box>
            <size>2.13 0.12 2.87</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_6">
        <pose>0.615 -10.98 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>7.36 0.15 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_7">
        <pose>-4.62 -10.98 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>0.93 0.15 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_8">
        <pose>-3.61 -10.98 2.69 0 0 0</pose>
        <geometry>
          <box>
            <size>1.09 0.15 0.28</size>
          </box>
        </geometry>
      </collision>

      <collision name="coke">
        <pose>-4.385 0.26 .95 0 0 0</pose>
        <geometry>
          <box>
            <size>1.03 1.03 1.52</size>
          </box>
        </geometry>
      </collision>

      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://cafe/meshes/cafe.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>

    2.与sdf文件相对应的.config文件

<?xml version="1.0"?>

<model>
  <name>Cafe</name>
  <version>1.0</version>
  <sdf version="1.5">model.sdf</sdf>
  <author>
    <name>Nate Koenig</name>
    <email>nate@osrfoundation.org</email>
  </author>
  <description>
    A model of a cafe.
  </description>
</model>

   3.  .world 文件

详细代码：

<sdf version='1.6'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>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>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
            <contact>
              <ode/>
            </contact>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0<