room_walls.world

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="walls">

    <!-- Base Ignition Gazebo plugins -->
    <plugin
        filename="ignition-gazebo-physics-system"
        name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
        filename="ignition-gazebo-user-commands-system"
        name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
        filename="ignition-gazebo-scene-broadcaster-system"
        name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <!-- IMU plugin manages all IMU sensors -->
    <plugin filename="libignition-gazebo-imu-system.so"
            name="ignition::gazebo::systems::Imu">
    </plugin>

    <plugin filename="libignition-gazebo-sensors-system.so"
      name="ignition::gazebo::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>

    <!-- Buoyancy plugin manages buoyancy for all models -->
    <plugin
        filename="ignition-gazebo-buoyancy-system"
        name="ignition::gazebo::systems::Buoyancy">
      <graded_buoyancy>
        <default_density>1000</default_density>
        <density_change>
          <above_depth>0</above_depth>
          <density>1</density>
        </density_change>
      </graded_buoyancy>
    </plugin>

    <!-- Global light source -->
    <light type="directional" name="sun">
      <pose>0 0 150 0 0 0</pose>
      <diffuse>1 1 1 1</diffuse>
      <specular>.1 .1 .1 1</specular>
      <direction>0.3 0.3 -1</direction>
      <cast_shadows>false</cast_shadows>
    </light>

    <!-- Global light source -->
    <light type="directional" name="sun_diffuse">
      <pose>0 0 -150 0 0 0</pose>
      <diffuse>0.6 0.6 0.6 1</diffuse>
      <specular>0 0 0 1</specular>
      <direction>-0.3 -0.3 -1</direction>
      <cast_shadows>false</cast_shadows>
    </light>

    <include>
      <uri>model://min_pipes_environment</uri>
      <pose>0 0 0 0 0 0</pose>
    </include>

    <include>
      <static>true</static>
      <name>Wall1</name>
      <pose>12.15 -10 -20 0 0 0</pose>
      <uri>model://Grey Wall</uri>
    </include>

    <include>
       <static>true</static>
       <name>Wall2</name>
       <pose>4.65 -10 -20 0 0 0</pose>
       <uri>model://Grey Wall</uri>
    </include>

    <include>
       <static>true</static>
       <name>Wall3</name>
       <pose>1 -6.15 -20 0 0 1.5707</pose>
       <uri>model://Grey Wall</uri>
    </include>

    <include>
       <static>true</static>
       <name>Wall4</name>
       <pose>1 1.35 -20 0 0 1.5707</pose>
       <uri>model://Grey Wall</uri>
    </include>

    <include>
       <static>true</static>
       <name>Wall5</name>
       <pose>4.65 5 -20 0 0 0</pose>
       <uri>model://Grey Wall</uri>
    </include>

    <include>
       <static>true</static>
       <name>Wall6</name>
       <pose>12.15 5 -20 0 0 0</pose>
       <uri>model://Grey Wall</uri>
    </include>

    <include>
       <static>true</static>
       <name>Wall7</name>
       <pose>15.80 1.35 -20 0 0 1.5707</pose>
       <uri>model://Grey Wall</uri>
    </include>

    <include>
       <static>true</static>
       <name>Wall8</name>
       <pose>15.80 -6.15 -20 0 0 1.5707</pose>
       <uri>model://Grey Wall</uri>
    </include>

  </world>
</sdf>