/usr/share/gazebo-9/worlds/fiducial.world is in gazebo9-common 9.0.0+dfsg5-3ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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<sdf version="1.5">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<model name="fiducial_camera">
<pose>0.0 0.0 5 0 1.57 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>true</visualize>
<plugin name="fiducial_camera" filename="libFiducialCameraPlugin.so">
<fiducial>fiducial_01</fiducial>
<fiducial>fiducial_02</fiducial>
</plugin>
</sensor>
</link>
</model>
<model name="fiducial_01">
<pose>0.0 -1.0 0.005 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000086</ixx>
<iyy>0.000086</iyy>
<izz>0.000164</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.02</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
</model>
<model name="fiducial_02">
<pose>1.0 -1.0 0.005 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000086</ixx>
<iyy>0.000086</iyy>
<izz>0.000164</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.02</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
</link>
</model>
</world>
</sdf>
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