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Gazebo wind effect plugin

Demo

Wind 
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<?xml version="1.0" ?>

<sdf version="1.6">
  <world name="empty">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <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>0.2 0.2 0.2 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>

    <!-- base wind velocity: x y z, m/s -->
    <wind>
      <linear_velocity>2 0 0</linear_velocity>
    </wind>

     <plugin
    filename="gz-sim-wind-effects-system"
    name="gz::sim::systems::WindEffects">
    <force_approximation_scaling_factor>1</force_approximation_scaling_factor>

    <horizontal>
      <magnitude>
        <time_for_rise>1.0</time_for_rise>
      </magnitude>
    </horizontal>
  </plugin>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.01</mu>
                <mu2>0.01</mu2>
              </ode>
            </friction>
          </surface>
        </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="box">
    <pose>0 0 1 0 0 0</pose>
    <enable_wind>true</enable_wind>

    <link name="link">
      <!-- Important: wind acts on links, not the whole model. -->
      <enable_wind>true</enable_wind>

      <inertial>
        <mass>0.02</mass>
        <inertia>
          <ixx>0.003333</ixx><iyy>0.003333</iyy><izz>0.003333</izz>
        </inertia>
      </inertial>

      <collision name="collision">
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.01</mu>
              <mu2>0.01</mu2>
            </ode>
          </friction>
        </surface>
      </collision>

      <visual name="visual">
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </visual>
    </link>
  </model>
  </world>
</sdf>

Demo: Simulate wind gust

Wind Gust 
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<?xml version="1.0" ?>

<sdf version="1.6">
  <world name="empty">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <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>0.2 0.2 0.2 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>

    <!-- base wind velocity: x y z, m/s -->
    <wind>
      <linear_velocity>0 1 0</linear_velocity>
    </wind>

     <plugin
    filename="gz-sim-wind-effects-system"
    name="gz::sim::systems::WindEffects">
    <force_approximation_scaling_factor>1</force_approximation_scaling_factor>

    <horizontal>
    <magnitude>
      <time_for_rise>0.2</time_for_rise>

      <sin>
        <amplitude_percent>1.0</amplitude_percent>
        <period>3</period>
      </sin>
    </magnitude>
  </horizontal>
  </plugin>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.01</mu>
                <mu2>0.01</mu2>
              </ode>
            </friction>
          </surface>
        </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="box">
    <pose>0 -10 1 0 0 0</pose>
    <enable_wind>true</enable_wind>

    <link name="link">
      <!-- Important: wind acts on links, not the whole model. -->
      <enable_wind>true</enable_wind>

      <inertial>
        <mass>0.02</mass>
        <inertia>
          <ixx>0.003333</ixx><iyy>0.003333</iyy><izz>0.003333</izz>
        </inertia>
      </inertial>

      <collision name="collision">
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.01</mu>
              <mu2>0.01</mu2>
            </ode>
          </friction>
        </surface>
      </collision>

      <visual name="visual">
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </visual>
    </link>
  </model>
  </world>
</sdf>