<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">

    <model name="polaris_ranger_ev">
      <static>true</static>
      <link name="chassis">
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Rear_Wheel_Right</name>
                <center>true</center>
              </submesh>
            </mesh>
          </geometry>
        </visual>
  
        <collision name="collision">
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Rear_Wheel_Right</name>
                <center>true</center>
              </submesh>
            </mesh>
          </geometry>
        </collision>
  
      </link>
    </model>

    <model name="hokuyo">
      <static>true</static>
      <pose>-2 0 0 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>0.1</mass>
        </inertial>

        <sensor name="laser" type="ray">
          <pose>0.01 0 0.20 0 -0 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>20</samples>
                <resolution>1</resolution>
                <min_angle>-0.8</min_angle>
                <max_angle>0.8</max_angle>
              </horizontal>
            </scan>
            <range>
              <min>0.08</min>
              <max>10</max>
              <resolution>0.01</resolution>
            </range>
          </ray>

          <plugin name="laser" filename="libRayPlugin.so" />
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
        </sensor>
      </link>
    </model>

  </world>
</sdf>
