<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>

    <model name="tx_model">
      <static>true</static>
      <pose>-10.0 0.0 0.5 0 0 0</pose>
      <link name="link">
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <sensor name="tx_sensor" type="wireless_transmitter">
          <transceiver>
            <essid>MyESSID</essid>
            <frequency>2442.0</frequency>
          </transceiver>
          <always_on>1</always_on>
          <!-- We choose a high fps on purpose. The goal is to check the effect
            of lockstep. -->
          <update_rate>500</update_rate>
          <visualize>true</visualize>
        </sensor>
      </link>
    </model>

    <model name="rx_model">
      <pose>13 0 0.5 0 0 0</pose>
      <link name="link">
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <sensor name="rx_sensor" type="wireless_receiver">
          <transceiver>
            <gain>2.5</gain>
            <power>14.5</power>
          </transceiver>
          <always_on>1</always_on>
          <!-- We choose a high fps on purpose. The goal is to check the effect
            of lockstep. -->
          <update_rate>500</update_rate>
          <visualize>true</visualize>
        </sensor>
      </link>
    </model>

  </world>
</sdf>
