simulation/models/simple_drone/model.sdf

<?xml version="1.0"?>
<sdf version="1.6">
  <model name="simple_drone">
    <static>false</static>
    <pose>0 0 1.2 0 0 0</pose>

    <link name="base_link">
      <gravity>false</gravity>

      <visual name="body">
        <geometry>
          <box>
            <size>0.35 0.25 0.12</size>
          </box>
        </geometry>
        <material>
          <ambient>0.1 0.1 0.12 1</ambient>
          <diffuse>0.1 0.1 0.12 1</diffuse>
        </material>
      </visual>

      <visual name="front_arm">
        <pose>0.25 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.5 0.04 0.04</size>
          </box>
        </geometry>
        <material>
          <ambient>0.05 0.05 0.05 1</ambient>
        </material>
      </visual>

      <visual name="side_arm">
        <pose>0 0.25 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.04 0.5 0.04</size>
          </box>
        </geometry>
        <material>
          <ambient>0.05 0.05 0.05 1</ambient>
        </material>
      </visual>

      <visual name="rotor_1">
        <pose>0.28 0.28 0.03 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.12</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
        <material>
          <ambient>0.1 0.45 0.85 1</ambient>
        </material>
      </visual>

      <visual name="rotor_2">
        <pose>0.28 -0.28 0.03 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.12</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
        <material>
          <ambient>0.1 0.45 0.85 1</ambient>
        </material>
      </visual>

      <visual name="rotor_3">
        <pose>-0.28 0.28 0.03 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.12</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
        <material>
          <ambient>0.1 0.45 0.85 1</ambient>
        </material>
      </visual>

      <visual name="rotor_4">
        <pose>-0.28 -0.28 0.03 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.12</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
        <material>
          <ambient>0.1 0.45 0.85 1</ambient>
        </material>
      </visual>

      <collision name="collision">
        <geometry>
          <box>
            <size>0.4 0.4 0.15</size>
          </box>
        </geometry>
      </collision>

      <!-- ===== RGB cameras: front / down / left / right ===== -->
      <!-- A Gazebo camera looks along its local +X axis. -->

      <!-- Front: looks forward (+X) -->
      <sensor name="cam_front" type="camera">
        <pose>0.62 0 0 0 0 0</pose>
        <always_on>1</always_on>
        <update_rate>15</update_rate>
        <visualize>true</visualize>
        <camera>
          <horizontal_fov>1.3</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>50</far>
          </clip>
        </camera>
      </sensor>

      <!-- Down: looks at the floor (-Z), via +90deg pitch -->
      <sensor name="cam_down" type="camera">
        <pose>0 0 -0.35 0 1.5708 0</pose>
        <always_on>1</always_on>
        <update_rate>15</update_rate>
        <visualize>true</visualize>
        <camera>
          <horizontal_fov>1.3</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>50</far>
          </clip>
        </camera>
      </sensor>

      <!-- Left: looks to the left (+Y), via +90deg yaw -->
      <sensor name="cam_left" type="camera">
        <pose>0 0.62 0 0 0 1.5708</pose>
        <always_on>1</always_on>
        <update_rate>15</update_rate>
        <visualize>true</visualize>
        <camera>
          <horizontal_fov>1.3</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>50</far>
          </clip>
        </camera>
      </sensor>

      <!-- Right: looks to the right (-Y), via -90deg yaw -->
      <sensor name="cam_right" type="camera">
        <pose>0 -0.62 0 0 0 -1.5708</pose>
        <always_on>1</always_on>
        <update_rate>15</update_rate>
        <visualize>true</visualize>
        <camera>
          <horizontal_fov>1.3</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>50</far>
          </clip>
        </camera>
      </sensor>
    </link>

    <plugin name="simple_drone_plugin" filename="libSimpleDronePlugin.so">
      <speed>0.6</speed>
      <image_dir>./drone_images</image_dir>
      <capture_period>1.0</capture_period>
    </plugin>
  </model>
</sdf>