wireless_test.world

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<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
   <!--f550 UAV model connected to default ports -->
   <include>
      <uri>model://F550_wireless</uri>
      <name>f550_wl</name>
      <pose>0 0 0 0 0 3.14</pose>
    </include>
<!--Wireless TX point -->
<model name="AP1">
      <static>true</static>
      <pose>-1 0 0.025 0 0 0</pose>
      <link name="AP1_link">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="base">
          <geometry>
            <box>
              <size>.05 .05 .05</size>
            </box>
          </geometry>
        </visual>
        <visual name="antenna">
          <pose>0 0 .04 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>.005</radius>
              <length>.07</length>
            </cylinder>
          </geometry>
        </visual>
        <sensor name="wirelessTransmitter" type="wireless_transmitter">
          <always_on>1</always_on>
          <update_rate>1</update_rate>
          <visualize>true</visualize>
          <transceiver>
            <essid>AP1</essid>
            <frequency>2412.0</frequency>
            <power>14.5</power>
            <gain>2.6</gain>
          </transceiver>
        </sensor>
      </link>
</model>

<model name="AP2">
      <static>true</static>
      <pose>4 0 0.025 0 0 0</pose>
      <link name="AP2_link">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="base">
          <geometry>
            <box>
              <size>.05 .05 .05</size>
            </box>
          </geometry>
        </visual>
        <visual name="antenna">
          <pose>0 0 .04 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>.005</radius>
              <length>.07</length>
            </cylinder>
          </geometry>
        </visual>
        <sensor name="wirelessTransmitter" type="wireless_transmitter">
          <always_on>1</always_on>
          <update_rate>1</update_rate>
          <visualize>true</visualize>
          <transceiver>
            <essid>AP2</essid>
            <frequency>2480.0</frequency>
            <power>15</power>
            <gain>5</gain>
          </transceiver>
        </sensor>
      </link>
</model>

    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://asphalt_plane</uri>
    </include>
    <physics name='default_physics' default='0' type='ode'>
      <gravity>0 0 -9.8066</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>10</iters>
          <sor>1.3</sor>
          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
      <max_step_size>0.002</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>500</real_time_update_rate>
      <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
    </physics>
  </world>
</sdf>