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<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- Ground -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- Pioneer2dx model -->
<model name="pioneer2dx">
<include>
<uri>model://pioneer2dx</uri>
</include>
<include>
<uri>model://camera</uri>
<pose>0.2 0 .3 0 0 0</pose>
</include>
<joint name="camera_joint" type="revolute">
<parent>pioneer2dx::pioneer2dx::chassis</parent>
<child>pioneer2dx::camera::link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
</axis>
</joint>
</model>
</world>
</sdf>
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