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Swarm: add plugin for declaring levels
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
1 parent b606576 commit 0a77569

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‎worlds/runway.sdf‎

Lines changed: 296 additions & 0 deletions
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@@ -129,5 +129,301 @@
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<pose degrees="true">-29 545 0 0 0 363</pose>
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</include>
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<!-- <include>
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<uri>model://level_tile</uri>
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<pose degrees="true">0 0 0 0 0 0</pose>
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</include> -->
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<!-- <include>
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<uri>model://iris_with_ardupilot</uri>
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<pose degrees="true">0 0 0 0 0 90</pose>
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<name>iris_with_ardupilot_1</name>
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</include>
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<include>
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<uri>model://iris_with_ardupilot</uri>
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<pose degrees="true">10 0 0 0 0 90</pose>
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<name>iris_with_ardupilot_2</name>
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</include>
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<include>
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<uri>model://iris_with_ardupilot</uri>
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<pose degrees="true">20 0 0 0 0 90</pose>
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<name>iris_with_ardupilot_3</name>
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</include>
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<include>
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<uri>model://iris_with_ardupilot</uri>
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<pose degrees="true">30 0 0 0 0 90</pose>
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<name>iris_with_ardupilot_4</name>
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</include> -->
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<!-- levels -->
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<plugin name="gz::sim" filename="dummy">
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<!-- performers may be added at runtime -->
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<!-- <performer name="perf_iris_with_ardupilot_1">
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<ref>iris_with_ardupilot_1</ref>
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<geometry>
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<box>
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<size>2 2 2</size>
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</box>
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</geometry>
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</performer>
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<performer name="perf_iris_with_ardupilot_2">
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<ref>iris_with_ardupilot_2</ref>
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<geometry>
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<box>
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<size>2 2 2</size>
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</box>
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</geometry>
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</performer>
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<performer name="perf_iris_with_ardupilot_3">
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<ref>iris_with_ardupilot_3</ref>
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<geometry>
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<box>
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<size>2 2 2</size>
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</box>
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</geometry>
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</performer>
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<performer name="perf_iris_with_ardupilot_4">
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<ref>iris_with_ardupilot_4</ref>
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<geometry>
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<box>
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<size>2 2 2</size>
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</box>
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</geometry>
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</performer> -->
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<!-- levels cannot be added at runtime -->
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<level name="level1">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_1</ref>
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</level>
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<level name="level2">
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<pose>20 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_2</ref>
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</level>
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<level name="level3">
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<pose>40 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_3</ref>
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</level>
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<level name="level4">
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<pose>60 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_4</ref>
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</level>
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<level name="level5">
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<pose>80 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_5</ref>
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</level>
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<level name="level6">
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<pose>0 20 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_6</ref>
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</level>
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<level name="level7">
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<pose>20 20 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_7</ref>
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</level>
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<level name="level8">
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<pose>40 20 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_8</ref>
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</level>
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<level name="level9">
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<pose>60 20 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_9</ref>
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</level>
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<level name="level10">
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<pose>80 20 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_10</ref>
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</level>
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<level name="level11">
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<pose>0 40 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_11</ref>
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</level>
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<level name="level12">
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<pose>20 40 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_12</ref>
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</level>
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<level name="level13">
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<pose>40 40 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_13</ref>
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</level>
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<level name="level14">
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<pose>60 40 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_14</ref>
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</level>
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<level name="level15">
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<pose>80 40 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_15</ref>
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</level>
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<level name="level16">
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<pose>0 60 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_16</ref>
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</level>
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<level name="level17">
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<pose>20 60 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_17</ref>
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</level>
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<level name="level18">
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<pose>40 60 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_18</ref>
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</level>
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<level name="level19">
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<pose>60 60 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_19</ref>
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</level>
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<level name="level20">
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<pose>80 60 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_20</ref>
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</level>
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<level name="level21">
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<pose>0 80 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_21</ref>
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</level>
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<level name="level22">
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<pose>20 80 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_22</ref>
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</level>
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<level name="level23">
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<pose>40 80 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_23</ref>
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</level>
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<level name="level24">
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<pose>60 80 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_24</ref>
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</level>
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<level name="level25">
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<pose>80 80 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 20 1000</size>
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</box>
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</geometry>
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<ref>level_tile_25</ref>
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</level>
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</plugin>
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</world>
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</sdf>

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