<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="sensor_block">
    <static>1</static>
    <pose> 0 0 0.1 0 0 0 </pose>

    <link name="base">
      <inertial>
        <inertia><ixx>0.01</ixx><ixy>0</ixy><ixz>0</ixz>  <iyy>0.01</iyy>  <iyz>0</iyz>  <izz>0.01</izz></inertia>
        <mass>1.0</mass>
      </inertial>

      <collision name="collision"><geometry><box><size>0.2 0.2 0.2</size></box></geometry></collision>
      <visual name="visual"><geometry><box><size>0.2 0.2 0.2</size></box></geometry></visual>
    </link>





    <!-- Plugins -->

    <!-- Base block: has a fully functional ins -->
    <plugin name="gps_sim" filename="libhector_gazebo_ros_gps.so">
      <updateRate>10</updateRate>
      <bodyName>base</bodyName>
      <frameId>base_link</frameId>
      <topicName>/gps/fix</topicName>
      <velocityTopicName>fix_velocity_base</velocityTopicName>
      <referenceLatitude>40.4653365145</referenceLatitude>
      <referenceLongitude>-3.7924659932</referenceLongitude>

      <referenceHeading> -90 </referenceHeading>
      <drift>0.005 0.0005 0.0005</drift>
      <gaussianNoise>0.0001 0.0001 0.001</gaussianNoise>
      <velocityDrift>0 0 0</velocityDrift>
      <velocityGaussianNoise>0.0005 0.0005 0.0005</velocityGaussianNoise>


    </plugin>


    <plugin name="imu_sim_2_good" filename="libgazebo_ros_imu.so">
      <updateRate>100</updateRate>
      <bodyName>base</bodyName>
      <frameId>base_link</frameId>
      <topicName>raw_imu_2_good</topicName>
      <gaussianNoise>0.00001</gaussianNoise>
      <accelDrift>0.0000000001 0.0000000001 0.0000000001</accelDrift>
      <accelGaussianNoise>0.00000001 0.000000000001 0.0000000001</accelGaussianNoise>
      <rateDrift>0 0 0</rateDrift>
      <rateGaussianNoise>0.01 0.01 0.01</rateGaussianNoise>
    </plugin>

    <plugin name="imu_sim_2_very_good" filename="libgazebo_ros_imu.so">
      <updateRate>100</updateRate>
      <bodyName>base</bodyName>
      <frameId>base_link</frameId>
      <topicName>raw_imu_2_very_good</topicName>
      <rpyOffset>0 0 0</rpyOffset> <!-- deprecated -->
      <gaussianNoise>0.000001</gaussianNoise>  <!-- deprecated -->
      <accelDrift>0.0000000001 0.0000000001 0.0000000001</accelDrift>
      <accelGaussianNoise>0.00000001 0.00000001 0.000001</accelGaussianNoise>
      <rateDrift>0 0 0</rateDrift>
      <rateGaussianNoise>0.000001 0.000001 0.000001</rateGaussianNoise>
    </plugin>

  </model>
</sdf>