<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="camera_sensor">
    <physics name="fast" type="ignored">
      <real_time_factor>0</real_time_factor>
    </physics>

    <plugin
      filename="ignition-gazebo-sensors-system"
      name="ignition::gazebo::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <model name="box">
      <pose>0 0 0 0 0 0</pose>
      <static>true</static>
      <link name="link">

        <collision name="collision_0">
          <geometry>
            <box><size>5 5 2.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_0">
          <geometry>
            <box><size>5 5 2.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>
      </link>
    </model>
    <model name="camera">
      <static>true</static>
      <pose>-6 2 2 0 0.5 0</pose>
      <link name="link">
        <inertial>
          <mass>0.1</mass>
          <inertia>
            <ixx>0.000166667</ixx>
            <iyy>0.000166667</iyy>
            <izz>0.000166667</izz>
          </inertia>
        </inertial>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name="camera" type="camera">
          <pose>1 0 1.3 0 0 0</pose>
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>320</width>
              <height>240</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
          <topic>camera</topic>
        </sensor>
      </link>
    </model>

    <model name="default_topics">
      <pose>10 0 0.5 0 0 0.0 </pose>
      <static>true</static>
      <link name="camera_link">
        <sensor name="camera" type="camera">
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>320</width>
              <height>240</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
        </sensor>
      </link>

      <link name="gpu_lidar_link">
        <sensor name='gpu_lidar' type='gpu_lidar'>"
          <ray>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>-1.396263</min_angle>
                <max_angle>1.396263</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <resolution>0.01</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.08</min>
              <max>10.0</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
        </sensor>
      </link>

      <link name="depth_camera_link">
        <sensor name="depth_camera" type="depth_camera">
          <camera>
            <horizontal_fov>1.05</horizontal_fov>
            <image>
              <width>256</width>
              <height>256</height>
              <format>R_FLOAT32</format>
            </image>
            <clip>
              <near>0.1</near>
              <far>10.0</far>
            </clip>
          </camera>
        </sensor>
      </link>

      <link name="rgbd_camera_link">
        <sensor name="rgbd_camera" type="rgbd_camera">
          <camera>
            <horizontal_fov>1.05</horizontal_fov>
            <image>
              <width>256</width>
              <height>256</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>10.0</far>
            </clip>
          </camera>
        </sensor>
      </link>
    </model>
  </world>
</sdf>
