Gazebo仿真中.sdf/.world文件标签

编程语言 2019-06-25 16:47:31 阅读次数: 0
  1. .sdf 文件

详细代码：

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="cafe">
    <static>true</static>
    <link name="link">
      <collision name="main_floor">
        <pose>-0.4 -0.75 0.0948 0 0 0</pose>
        <geometry>
          <box>
            <size>9.38 22.63 0.19</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_1">
        <pose>-5.03 0.53 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>.12 23.16 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_2">
        <pose>4.24 -.31 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>.12 21.48 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_3">
        <pose>-1.48 7.43 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>7.2 0.12 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_4">
        <pose>2.09 8.9 1.435 0 0 0</pose>
        <geometry>
          <box>
            <size>0.12 3.05 2.87</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_5">
        <pose>3.155 10.4 1.435 0 0 0</pose>
        <geometry>
          <box>
            <size>2.13 0.12 2.87</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_6">
        <pose>0.615 -10.98 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>7.36 0.15 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_7">
        <pose>-4.62 -10.98 1.415 0 0 0</pose>
        <geometry>
          <box>
            <size>0.93 0.15 2.83</size>
          </box>
        </geometry>
      </collision>

      <collision name="wall_8">
        <pose>-3.61 -10.98 2.69 0 0 0</pose>
        <geometry>
          <box>
            <size>1.09 0.15 0.28</size>
          </box>
        </geometry>
      </collision>

      <collision name="coke">
        <pose>-4.385 0.26 .95 0 0 0</pose>
        <geometry>
          <box>
            <size>1.03 1.03 1.52</size>
          </box>
        </geometry>
      </collision>

      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://cafe/meshes/cafe.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>

    2.与sdf文件相对应的.config文件

<?xml version="1.0"?>

<model>
  <name>Cafe</name>
  <version>1.0</version>
  <sdf version="1.5">model.sdf</sdf>
  <author>
    <name>Nate Koenig</name>
    <email>[email protected]</email>
  </author>
  <description>
    A model of a cafe.
  </description>
</model>

   3.  .world 文件

详细代码：

<sdf version='1.6'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
            <contact>
              <ode/>
            </contact>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <state world_name='default'>
      <sim_time>354 199000000</sim_time>
      <real_time>149 289868101</real_time>
      <wall_time>1502810013 639778766</wall_time>
      <iterations>148155</iterations>
      <model name='Dumpster'>
        <pose frame=''>-5.85238 1.10749 0.000917 0 -2e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-5.85238 1.10749 0.000917 0 -2e-06 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.006033 0 -5e-06 0 -0.280679 4e-06</acceleration>
          <wrench>-0.006033 0 -5e-06 0 -0 0</wrench>
        </link>
      </model>
      <model name='Dumpster_0'>
        <pose frame=''>5.82953 1.13428 0.000917 0 -2e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>5.82953 1.13428 0.000917 0 -2e-06 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.006033 0 -5e-06 0 -0.280679 4e-06</acceleration>
          <wrench>-0.006033 0 -5e-06 0 -0 0</wrench>
        </link>
      </model>
      <model name='Dumpster_1'>
        <pose frame=''>-2.10368 -6.35586 0.000917 0 -2e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-2.10368 -6.35586 0.000917 0 -2e-06 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.006033 0 -9e-06 0 -0.280676 4e-06</acceleration>
          <wrench>-0.006033 0 -9e-06 0 -0 0</wrench>
        </link>
      </model>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='room_0'>
        <pose frame=''>-0.064136 -2.60385 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='Wall_0'>
          <pose frame=''>-0.091464 1.82115 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_12'>
          <pose frame=''>-3.56322 -2.19959 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_13'>
          <pose frame=''>-1.38822 -3.12459 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_2'>
          <pose frame=''>6.86086 -2.60385 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_3'>
          <pose frame=''>-0.064136 -7.02885 0 0 -0 3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_4'>
          <pose frame=''>-6.98914 -2.60385 0 0 -0 1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_6'>
          <pose frame=''>-0.013213 -1.27459 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_7'>
          <pose frame=''>3.53678 -2.82459 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_8'>
          <pose frame=''>2.23678 -4.37459 0 0 -0 3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_9'>
          <pose frame=''>0.936784 -3.82459 0 0 -0 1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>1.08997 -8.1862 33.1928 0 1.4698 1.59615</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <model name='room_0'>
      <pose frame=''>-0.064136 -2.60385 0 0 -0 0</pose>
      <link name='Wall_0'>
        <collision name='Wall_0_Collision'>
          <geometry>
            <box>
              <size>13.75 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_0_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>13.75 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>-0.027328 4.425 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_12'>
        <collision name='Wall_12_Collision'>
          <geometry>
            <box>
              <size>2 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_12_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>-3.49908 0.404259 0 0 0 -1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_13'>
        <collision name='Wall_13_Collision'>
          <geometry>
            <box>
              <size>4.5 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_13_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.5 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>-1.32408 -0.520741 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_2'>
        <collision name='Wall_2_Collision'>
          <geometry>
            <box>
              <size>9 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_2_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>9 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>6.925 0 0 0 0 -1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_3'>
        <collision name='Wall_3_Collision'>
          <geometry>
            <box>
              <size>14 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_3_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>14 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 -4.425 0 0 -0 3.14159</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_4'>
        <collision name='Wall_4_Collision'>
          <geometry>
            <box>
              <size>9 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_4_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>9 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>-6.925 0 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_6'>
        <collision name='Wall_6_Collision'>
          <geometry>
            <box>
              <size>7.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_6_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>7.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>0.050923 1.32926 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_7'>
        <collision name='Wall_7_Collision'>
          <geometry>
            <box>
              <size>3.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_7_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>3.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>3.60092 -0.220741 0 0 0 -1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_8'>
        <collision name='Wall_8_Collision'>
          <geometry>
            <box>
              <size>2.75 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_8_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>2.75 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>2.30092 -1.77074 0 0 -0 3.14159</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_9'>
        <collision name='Wall_9_Collision'>
          <geometry>
            <box>
              <size>1.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_9_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>1.00092 -1.22074 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <static>1</static>
    </model>
    <model name='Dumpster'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://dumpster/materials/scripts</uri>
              <uri>model://dumpster/materials/textures</uri>
              <name>Dumpster/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-5.8491 1.01415 0 0 -0 0</pose>
    </model>
    <model name='Dumpster_0'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://dumpster/materials/scripts</uri>
              <uri>model://dumpster/materials/textures</uri>
              <name>Dumpster/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>5.82953 1.13428 0 0 -0 0</pose>
    </model>
    <model name='Dumpster_1'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://dumpster/materials/scripts</uri>
              <uri>model://dumpster/materials/textures</uri>
              <name>Dumpster/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-2.10368 -6.35586 0 0 -0 0</pose>
    </model>
  </world>
</sdf>

world文件和sdf文件都是Gazebo的模型文件，sdf文件是单个的模型文件。而world文件是单个sdf文件(模型)的组织者，world文件可以使用sdf文件定义的单个模型去定义一个大的“世界”,当然这个世界是模拟的世界，是有许多的模型构成的。world文件可以使用如下的办法使用已经定义好的(位置在.gazebo/model文件下面)模型：

<?xml version="1.0"?>
<sdf version="1.4">
  <world name="default">
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <model name="pillar1">
      <include>
        <pose frame=''>-0.023818 0.19212 2.60653 0 -0 0.000933</pose>
        <scale>1 1 1</scale>
        <uri>model://lxl_pillar</uri>
      </include>
    </model>
  </world>
</sdf>

也可以直接把sdf文件定义的部分放在world中。

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