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Logical Audio Sensor Plugin (#401)
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Signed-off-by: Ashton Larkin <[email protected]>
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@adlarkin
adlarkin committed Dec 18, 2020
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277 changes: 277 additions & 0 deletions examples/worlds/logical_audio_sensor_plugin.sdf
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<?xml version="1.0" ?>
<!--
An example world to demo how logical audio sources and microphones interact.
2 sources are created, which are attached to a red and blue box.
2 microphones are created, which are attached to a green and yellow box.
The boxes can be moved to mimic sensors attached to a moving robot.
To start and stop the audio sources, use the <PREFIX>/source_<id>/play and
<PREFIX>/source_<id>/stop service calls.
To play the source attached to the blue box, run the following command:
ign service -s /model/blue_box/sensor/source_1/play
--reqtype ignition.msgs.Empty --reptype ignition.msgs.Boolean
--timeout 1000 --req 'unused: false'
To stop the source attached to the blue box, run the following command:
ign service -s /model/blue_box/sensor/source_1/stop
--reqtype ignition.msgs.Empty --reptype ignition.msgs.Boolean
--timeout 1000 --req 'unused: false'
To observe microphone detections, use the <PREFIX>/mic_<id>/detection topic.
The following command will display detections heard by the microphone attached
to the green box:
ign topic -e -t /model/green_box/sensor/mic_1/detection
-->
<sdf version="1.6">
<world name="logical_audio_sensor">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>

<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
</scene>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 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>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="red_box">
<pose>0 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
<plugin filename="ignition-gazebo-logicalaudiosensorplugin-system" name="ignition::gazebo::systems::LogicalAudioSensorPlugin">
<source>
<id>1</id>
<pose>.5 0 0 0 0 0</pose>
<attenuation_function>linear</attenuation_function>
<attenuation_shape>sphere</attenuation_shape>
<inner_radius>1.0</inner_radius>
<falloff_distance>5.0</falloff_distance>
<volume_level>.8</volume_level>
<playing>true</playing>
<play_duration>10</play_duration>
</source>
</plugin>
</model>

<model name="blue_box">
<pose>3 3 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>
<plugin filename="ignition-gazebo-logicalaudiosensorplugin-system" name="ignition::gazebo::systems::LogicalAudioSensorPlugin">
<source>
<id>1</id>
<pose>0 0 0 0 0 0</pose>
<attenuation_function>linear</attenuation_function>
<attenuation_shape>sphere</attenuation_shape>
<inner_radius>5.0</inner_radius>
<falloff_distance>100.0</falloff_distance>
<volume_level>.6</volume_level>
<playing>false</playing>
<play_duration>0</play_duration>
</source>
</plugin>
</model>

<model name="green_box">
<pose>0 2 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
<plugin filename="ignition-gazebo-logicalaudiosensorplugin-system" name="ignition::gazebo::systems::LogicalAudioSensorPlugin">
<microphone>
<id>1</id>
<pose>0 .5 0 0 0 0</pose>
<volume_threshold>.4</volume_threshold>
</microphone>
</plugin>
</model>

<model name="yellow_box">
<pose>-5 4 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
</material>
</visual>
</link>
<plugin filename="ignition-gazebo-logicalaudiosensorplugin-system" name="ignition::gazebo::systems::LogicalAudioSensorPlugin">
<microphone>
<id>1</id>
<pose>0.5 0.5 0.5 0 0 0</pose>
<volume_threshold>.3</volume_threshold>
</microphone>
</plugin>
</model>
</world>
</sdf>
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