forest.sdf

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

    <!-- 
    IMPORTANT: PLUGIN BEHAVIOR IN GAZEBO
    This simulation world inherits plugins from a default config file
    located in mrs_uav_gazebo_simulation/config/gazebo_server.config.
    If you add any plugins here, it will override the default
    configuration, so be sure to include all necessary plugins here.
    -->

    <!-- Geographic coordinates for the world origin {-->
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <!-- Latitude and Longitude for the world's origin -->
      <latitude_deg>47.397743</latitude_deg>
      <longitude_deg>8.545594</longitude_deg>
      <elevation>0.0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <!--}-->

    <!-- Configuring the sun as a directional light source {-->
    <light type="directional" name="sun">
      <cast_shadows>false</cast_shadows>
      <pose>250 250 600 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 0 -1</direction>
    </light>
    <!--}-->

    <!-- Trees {-->
    <include>
      <uri>model://mrs_gazebo_common_resources/models/tree_simple</uri>
      <name>tree_simple499</name>
      <pose>49.5772894431 -0.301033806291 0 0 0 0</pose>
    </include>

    <include>
      <uri>model://mrs_gazebo_common_resources/models/tree_simple</uri>
      <name>tree_simple498</name>
      <pose>-20.062069779 9.09254194943 0 0 0 0</pose>
    </include>

    <include>
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      <name>tree_simple497</name>
      <pose>16.5730666381 19.0016793819 0 0 0 0</pose>
    </include>

    <include>
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    </include>

    <include>
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    </include>

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    </include>

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