Not loading world file from RotorS package

[aka-LJ]

Hello,

I am on Melodic + 18.04.

I try to change the world file for the MAV hovering example, but I can only load the basic world and Yosemite one.

could you please suggest to me what adaption do I need to load the outdoor world.

[welcome]

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

[aka-LJ]

Here is my world file.

<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="outdoor">
    <!-- Place user camera -->
    <gui>
      <camera name="user_camera">
        <pose>-11.660200 -5.942800 6.053900 0.000000 0.443643 0.352194</pose>
      </camera>
    </gui>
    <scene>
      <ambient>0.2 0.2 0.2 1.0</ambient>
      <grid>false</grid>
      <sky>
        <clouds>
          <speed>4</speed>
        </clouds>
      </sky>
    </scene>

    <!-- Only one ROS interface plugin is required per world, as any other plugin can connect a Gazebo
         topic to a ROS topic (or vise versa). -->
    <plugin name="ros_interface_plugin" filename="librotors_gazebo_ros_interface_plugin.so"/>
    
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>47.3667</latitude_deg>
      <longitude_deg>8.5500</longitude_deg>
      <elevation>500.0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <physics type='ode'>
      <ode>
        <solver>
          <type>quick</type>
          <iters>1000</iters>
          <sor>1.3</sor>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
      <max_step_size>0.01</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>100</real_time_update_rate>
      <gravity>0 0 -9.8</gravity>
    </physics>
    <!-- Light Source -->
    <light type="directional" name="sun">
      <cast_shadows>false</cast_shadows>
      <pose>0 0 100 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.9 0.9 0.9 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0.2 0.2 -0.9</direction>
    </light>
    <light type="point" name="light_bulb">
      <cast_shadows>false</cast_shadows>
      <pose>-14 0 5 0 0 0</pose>
      <diffuse>0.3 0.3 0.3 1</diffuse>
      <specular>0.0 0.0 0.0 1</specular>
      <attenuation>
        <range>80</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
    </light>
    <include>
      <uri>model://vrc_heightmap_1</uri>
    </include>
    <include>
      <uri>model://grass_plane</uri>
    </include>
    <include>
      <uri>model://speed_limit_sign</uri>
      <name>speed_sign_1</name>
      <static>true</static>
      <pose>15 -5 0 0 0 1.5707</pose>
    </include>
    <include>
      <uri>model://speed_limit_sign</uri>
      <name>speed_sign_2</name>
      <static>true</static>
      <pose>70 5 0 0 0 1.5707</pose>
    </include>
    <include>
      <uri>model://speed_limit_sign</uri>
      <name>speed_sign_3</name>
      <static>true</static>
      <pose>121 13 0 0 0 2.356</pose>
    </include>
    <include>
      <uri>model://speed_limit_sign</uri>
      <name>speed_sign_4</name>
      <static>true</static>
      <pose>155 68 0 0 0 3.1415</pose>
    </include>
    <include>
      <uri>model://speed_limit_sign</uri>
      <name>speed_sign_5</name>
      <static>true</static>
      <pose>175 95 0 0 0 1.5707</pose>
    </include>
    <include>
      <uri>model://house_1</uri>
      <name>house_1_a</name>
      <pose>12 9.5 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://house_1</uri>
      <name>house_1_b</name>
      <pose>129.5 46 0 0 0 1.5707</pose>
    </include>
    <include>
      <uri>model://mailbox</uri>
      <name>mailbox_0</name>
      <static>true</static>
      <pose>18 4 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://mailbox</uri>
      <name>mailbox_1</name>
      <static>true</static>
      <pose>24.5 -4.45 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://gas_station</uri>
      <name>gas_station</name>
      <pose>77 15 0 0 0 -1.5707963267948966</pose>
    </include>
    <include>
      <uri>model://house_2</uri>
      <name>house_2_a</name>
      <pose>30 -8 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://house_2</uri>
      <name>house_2_b</name>
      <pose>158 91 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://house_3</uri>
      <name>house_3_a</name>
      <pose>44 7 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://house_3</uri>
      <name>house_3_b</name>
      <pose>111 26 0 0 0 .78539</pose>
    </include>
    <include>
      <uri>model://house_3</uri>
      <name>house_3_c</name>
      <pose>170 106 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://mailbox</uri>
      <name>mailbox_2</name>
      <static>true</static>
      <pose>59 4.45 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://house_3</uri>
      <name>house_3_d</name>
      <pose>95 7.0 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://dumpster</uri>
      <static>true</static>
      <pose>143 51.5 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://house_2</uri>
      <name>house_2_c</name>
      <pose>135 84.8 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_1</name>
      <static>true</static>
      <pose>24 4 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_2</name>
      <static>true</static>
      <pose>54 4 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_3</name>
      <static>true</static>
      <pose>84 4 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_4</name>
      <static>true</static>
      <pose>14 -4 0 0 0 3.1415</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_5</name>
      <static>true</static>
      <pose>44 -4 0 0 0 3.1415</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_6</name>
      <static>true</static>
      <pose>74 -4 0 0 0 3.1415</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_7</name>
      <static>true</static>
      <pose>148 104 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_8</name>
      <static>true</static>
      <pose>178 104 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_9</name>
      <static>true</static>
      <pose>158 96 0 0 0 3.1415</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_10</name>
      <static>true</static>
      <pose>188 96 0 0 0 3.1415</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_11</name>
      <static>true</static>
      <pose>102 8 0 0 0 .785</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_12</name>
      <static>true</static>
      <pose>123 29 0 0 0 .785</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_13</name>
      <static>true</static>
      <pose>144 50 0 0 0 .785</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_14</name>
      <static>true</static>
      <pose>99 -4 0 0 0 3.1415</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_15</name>
      <static>true</static>
      <pose>120 14.5 0 0 0 -2.35</pose>
    </include>
    <include>
      <uri>model://lamp_post</uri>
      <name>lamp_post_16</name>
      <static>true</static>
      <pose>141 35.5 0 0 0 -2.35</pose>
    </include>
    <road name="main_street">
      <width>7.34</width>
      <point>0 0 0.01</point>
      <point>100 0 0.01</point>
      <point>150 50 0.01</point>
      <point>150 100 0.01</point>
      <point>200 100 0.01</point>
    </road>
    <road name="gas_station_street">
      <width>17</width>
      <point>65 25 0.01</point>
      <point>65 3.66 0.01</point>
    </road>
    <model name="road_boxes">
      <static>true</static>
      <link name="link">
        <collision name="collision_1">
          <pose>51 0 0 0 0 0</pose>
          <geometry>
            <box>
              <size>102 7.34 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.8</mu>
                <mu2>0.8</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <collision name="collision_2">
          <pose>125 25 0 0 0 0.78539</pose>
          <geometry>
            <box>
              <size>72 7.34 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.8</mu>
                <mu2>0.8</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <collision name="collision_3">
          <pose>150 75 0 0 0 0</pose>
          <geometry>
            <box>
              <size>7.34 53 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.8</mu>
                <mu2>0.8</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <collision name="collision_4">
          <pose>173.5 100 0 0 0 0</pose>
          <geometry>
            <box>
              <size>54.5 7.34 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.8</mu>
                <mu2>0.8</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <collision name="collision_5">
          <pose>198 106 0 0 0 0</pose>
          <geometry>
            <box>
              <size>6 5 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.8</mu>
                <mu2>0.8</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
      </link>
    </model>
  </world>
</sdf>

[gsilano]

Ok. Let's suppose your world file makes sense. What I'm wondering how did you modify the launch file to work with it? Could you copy and past it?

[aka-LJ]

sorry for the late reply, here is the launch file

<launch>
  <arg name="mav_name" default="firefly"/>
  <arg name="world_name" default="outdoor"/>
  <arg name="enable_logging" default="false" />
  <arg name="enable_ground_truth" default="true" />
  <arg name="log_file" default="$(arg mav_name)" />
  <arg name="path" default=""/>
  <arg name="changeIdFrame" default="/talker/changes"/>

  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world" />
    <!-- <arg name="debug" value="true"/> -->
    <arg name="paused" value="true"/>
    <!-- <arg name="gui" value="false"/> -->
  </include>

  <group ns="$(arg mav_name)">
    <include file="$(find rotors_gazebo)/launch/spawn_mav.launch">
      <arg name="mav_name" value="$(arg mav_name)" />
      <!-- <arg name="model" value="$(find rotors_description)/urdf/mav_with_vi_AND_wind.gazebo" /> -->
      <arg name="model" value="$(find rotors_description)/urdf/mav_with_vi_sensor.gazebo" />

      <arg name="enable_logging" value="$(arg enable_logging)" />
      <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
      <arg name="log_file" value="$(arg log_file)"/>

    </include>
    <node name="lee_position_controller_node" pkg="rotors_control" type="lee_position_controller_node" output="screen">
      <rosparam command="load" file="$(find rotors_gazebo)/resource/lee_controller_$(arg mav_name).yaml" />
      <rosparam command="load" file="$(find rotors_gazebo)/resource/$(arg mav_name).yaml" />
      <remap from="odometry" to="odometry_sensor1/odometry" />
    </node>

    <node name="auto_navi" pkg="rotors_gazebo" type="auto_navi" output="screen"/> 
    <node pkg="rostopic" type="rostopic" name="rostopic_dest" 
          args="pub  -1 /navigation_destination geometry_msgs/Point  -- 30 15 2"/>
    <node pkg="rostopic" type="rostopic" name="rostopic_restricted_area" 
          args="pub  -1 /Bounding_Area rotors_gazebo/restrictedSquare  --  11200 -140 -300  -200"/>
    
    <node name="hovering_example" pkg="rotors_gazebo" type="hovering_example" output="screen"/>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  </group>

  <!-- you can load an exisiting tree with <node ... args="tree.bt"> !-->
  <node pkg="octomap_server" type="octomap_tracking_server_node" name="octomap_talker" output="screen" args="$(arg path)">
    <param name="resolution" value="0.2" />
    <param name="frame_id" type="string" value="world" />
    <param name="sensor_model/max_range" value="10.0" />
    <param name="save_directory" value="$(optenv OCTOMAP_SAVE_DIR ./)" />
    <param name="track_changes" value="true"/>
    <param name="listen_changes" value="false"/>
    <param name="topic_changes" value="/octomap_tracking_server/changeset" />
    <param name="change_id_frame" value="$(arg changeIdFrame)" />
    <param name="min_change_pub" value="0" />
    <remap from="cloud_in" to="/firefly/vi_sensor/camera_depth/depth/points" />
  </node>

</launch>

[gsilano]

Hmm. It is strange to me. Let me understand, are you able to run a simple simulation scenario with Crazyflie? I mean, one of those listed in the README file?

[aka-LJ]

Hmm. It is strange to me. Let me understand, are you able to run a simple simulation scenario with Crazyflie? I mean, one of those listed in the README file?

NO, I tried the mav_hovering_example.launch from rotors package, and the gazebo is not launching.

then I change the world to outdoor in crazyflie2_hovering_example.launch. gazebo is launching, but the world is not loading properly, and the drone is not hovering. stuck in the initial stage

[gsilano]

Ah, ok. So, you also have problems when you try to lunch the Crazyflie example. Am I right?