From a56f6546513a0f87f36256c1943ae0bc23be0225 Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Sun, 4 Sep 2022 21:10:29 -0400
Subject: [PATCH] Multi-Vehicle Ignition Gazebo Simulation (#20154)

---
 .../init.d-posix/airframes/6001_x4            |    80 -
 .../init.d-posix/airframes/CMakeLists.txt     |     1 -
 .../init.d-posix/px4-rc.simulator             |    40 +-
 .../models/x4/materials/textures/led.jpg      |   Bin 81664 -> 0 bytes
 .../x4/materials/textures/spotlight.jpg       |   Bin 186736 -> 0 bytes
 .../ignition/models/x4/meshes/led.dae         |   529 -
 .../ignition/models/x4/meshes/led_lamp.dae    |    66 -
 .../models/x4/meshes/neo11_propeller_ccw.dae  |   160 -
 .../models/x4/meshes/neo11_propeller_cw.dae   |   160 -
 .../ignition/models/x4/meshes/pelican.dae     |    74 -
 .../models/x4/meshes/propeller_ccw.dae        |    63 -
 .../models/x4/meshes/propeller_cw.dae         |    63 -
 .../ignition/models/x4/meshes/spotlight.dae   |  2770 ----
 .../ignition/models/x4/meshes/vi_camera.dae   |   140 -
 .../ignition/models/x4/meshes/vi_camera.jpg   |   Bin 90341 -> 0 bytes
 .../ignition/models/x4/meshes/vi_sensor.dae   |   139 -
 .../ignition/models/x4/meshes/vi_sensor.jpg   |   Bin 114575 -> 0 bytes
 .../ignition/models/x4/meshes/x4.dae          | 12596 ----------------
 .../ignition/models/x4/meshes/x4.jpg          |   Bin 170297 -> 0 bytes
 .../ignition/models/x4/model.config           |    17 -
 Tools/simulation/ignition/models/x4/model.sdf |   822 -
 .../ignition/models/x4/thumbnails/1.jpg       |   Bin 46840 -> 0 bytes
 .../ignition/models/x4/thumbnails/2.jpg       |   Bin 58391 -> 0 bytes
 .../ignition/models/x4/thumbnails/3.jpg       |   Bin 33659 -> 0 bytes
 .../ignition/models/x4/thumbnails/4.jpg       |   Bin 35289 -> 0 bytes
 .../ignition/models/x4/thumbnails/5.jpg       |   Bin 38744 -> 0 bytes
 .../materials/textures/CF.png                 |   Bin
 .../materials/textures/nxp.png                |   Bin
 .../materials/textures/rd.png                 |   Bin
 .../meshes/1345_prop_ccw.stl                  |   Bin
 .../meshes/1345_prop_cw.stl                   |   Bin
 .../{x500 => x500-Base}/meshes/5010Base.dae   |     0
 .../{x500 => x500-Base}/meshes/5010Bell.dae   |     0
 .../models/{x500 => x500-Base}/meshes/CF.png  |   Bin
 .../{x500 => x500-Base}/meshes/NXP-HGD-CF.dae |     0
 .../ignition/models/x500-Base/model.config    |    11 +
 .../ignition/models/x500-Base/model.sdf       |   516 +
 .../models/x500-Base/thumbnails/1.png         |   Bin 0 -> 32312 bytes
 .../models/x500-Base/thumbnails/2.png         |   Bin 0 -> 52133 bytes
 .../models/x500-Base/thumbnails/3.png         |   Bin 0 -> 28374 bytes
 .../models/x500-Base/thumbnails/4.png         |   Bin 0 -> 27300 bytes
 .../models/x500-Base/thumbnails/5.png         |   Bin 0 -> 23786 bytes
 .../ignition/models/x500-Depth/model.config   |    11 +
 .../ignition/models/x500-Depth/model.sdf      |    85 +
 .../models/x500-Depth/thumbnails/1.png        |   Bin 0 -> 32527 bytes
 .../models/x500-Depth/thumbnails/2.png        |   Bin 0 -> 51624 bytes
 .../models/x500-Depth/thumbnails/3.png        |   Bin 0 -> 27956 bytes
 .../models/x500-Depth/thumbnails/4.png        |   Bin 0 -> 27225 bytes
 .../models/x500-Depth/thumbnails/5.png        |   Bin 0 -> 23886 bytes
 .../ignition/models/x500/model.config         |     2 +-
 .../simulation/ignition/models/x500/model.sdf |   527 +-
 Tools/simulation/ignition/worlds/default.sdf  |     1 +
 .../SimulatorIgnitionBridge.cpp               |    70 +-
 .../SimulatorIgnitionBridge.hpp               |     5 +-
 54 files changed, 727 insertions(+), 18221 deletions(-)
 delete mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4
 delete mode 100644 Tools/simulation/ignition/models/x4/materials/textures/led.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/materials/textures/spotlight.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/led.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/led_lamp.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/neo11_propeller_ccw.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/neo11_propeller_cw.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/pelican.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/propeller_ccw.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/propeller_cw.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/spotlight.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/vi_camera.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/vi_camera.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/vi_sensor.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/vi_sensor.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/x4.dae
 delete mode 100644 Tools/simulation/ignition/models/x4/meshes/x4.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/model.config
 delete mode 100644 Tools/simulation/ignition/models/x4/model.sdf
 delete mode 100644 Tools/simulation/ignition/models/x4/thumbnails/1.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/thumbnails/2.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/thumbnails/3.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/thumbnails/4.jpg
 delete mode 100644 Tools/simulation/ignition/models/x4/thumbnails/5.jpg
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/materials/textures/CF.png (100%)
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/materials/textures/nxp.png (100%)
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/materials/textures/rd.png (100%)
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/meshes/1345_prop_ccw.stl (100%)
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/meshes/1345_prop_cw.stl (100%)
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/meshes/5010Base.dae (100%)
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/meshes/5010Bell.dae (100%)
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/meshes/CF.png (100%)
 rename Tools/simulation/ignition/models/{x500 => x500-Base}/meshes/NXP-HGD-CF.dae (100%)
 create mode 100644 Tools/simulation/ignition/models/x500-Base/model.config
 create mode 100644 Tools/simulation/ignition/models/x500-Base/model.sdf
 create mode 100644 Tools/simulation/ignition/models/x500-Base/thumbnails/1.png
 create mode 100644 Tools/simulation/ignition/models/x500-Base/thumbnails/2.png
 create mode 100644 Tools/simulation/ignition/models/x500-Base/thumbnails/3.png
 create mode 100644 Tools/simulation/ignition/models/x500-Base/thumbnails/4.png
 create mode 100644 Tools/simulation/ignition/models/x500-Base/thumbnails/5.png
 create mode 100644 Tools/simulation/ignition/models/x500-Depth/model.config
 create mode 100644 Tools/simulation/ignition/models/x500-Depth/model.sdf
 create mode 100644 Tools/simulation/ignition/models/x500-Depth/thumbnails/1.png
 create mode 100644 Tools/simulation/ignition/models/x500-Depth/thumbnails/2.png
 create mode 100644 Tools/simulation/ignition/models/x500-Depth/thumbnails/3.png
 create mode 100644 Tools/simulation/ignition/models/x500-Depth/thumbnails/4.png
 create mode 100644 Tools/simulation/ignition/models/x500-Depth/thumbnails/5.png

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4 b/ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4
deleted file mode 100644
index a1add4c464..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4
+++ /dev/null
@@ -1,80 +0,0 @@
-#!/bin/sh
-#
-# @name Ignition Gazebo X4
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
-PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX  0.25
-param set-default CA_ROTOR0_PY -0.15
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX  0.00
-param set-default CA_ROTOR1_PY -0.29
-param set-default CA_ROTOR1_KM -0.05
-
-param set-default CA_ROTOR2_PX -0.25
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM  0.05
-
-param set-default CA_ROTOR3_PX -0.25
-param set-default CA_ROTOR3_PY  0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_ROTOR4_PX  0.00
-param set-default CA_ROTOR4_PY  0.29
-param set-default CA_ROTOR4_KM  0.05
-
-param set-default CA_ROTOR5_PX  0.25
-param set-default CA_ROTOR5_PY  0.15
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default SIM_IGN_FUNC1 101
-param set-default SIM_IGN_FUNC2 102
-param set-default SIM_IGN_FUNC3 103
-param set-default SIM_IGN_FUNC4 104
-param set-default SIM_IGN_FUNC5 105
-param set-default SIM_IGN_FUNC6 106
-
-param set-default SIM_IGN_MIN1 150
-param set-default SIM_IGN_MIN2 150
-param set-default SIM_IGN_MIN3 150
-param set-default SIM_IGN_MIN4 150
-param set-default SIM_IGN_MIN5 150
-param set-default SIM_IGN_MIN6 150
-
-param set-default SIM_IGN_MAX1 1000
-param set-default SIM_IGN_MAX2 1000
-param set-default SIM_IGN_MAX3 1000
-param set-default SIM_IGN_MAX4 1000
-param set-default SIM_IGN_MAX5 1000
-param set-default SIM_IGN_MAX6 1000
-
-
-param set-default MC_PITCHRATE_D 0.0016
-param set-default MC_PITCHRATE_I 0.2500
-param set-default MC_PITCHRATE_P 0.1831
-param set-default MC_PITCH_P 5.216
-
-param set-default MC_ROLLRATE_D 0.0022
-param set-default MC_ROLLRATE_I 0.2095
-param set-default MC_ROLLRATE_P 0.1570
-param set-default MC_ROLL_P 6.081
-
-param set-default MC_YAWRATE_D 0.0009
-param set-default MC_YAWRATE_I 0.1800
-param set-default MC_YAWRATE_P 0.1773
-param set-default MC_YAW_P 5.386490
-
-param set-default MPC_THR_HOVER 0.61
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 933538817a..e42560496d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -79,7 +79,6 @@ px4_add_romfs_files(
 	17002_tf-g2
 	2507_cloudship
 
-	6001_x4
 	6011_typhoon_h480
 	6011_typhoon_h480.post
 )
diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index fba31e6bf8..9f6d1077ce 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -20,7 +20,10 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		. ../gazebo_env.sh
 	fi
 
-	if ! ign service --info --service /world/${PX4_SIM_WORLD}/create | grep "ignition.msgs.EntityFactory"; then
+	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+	if [ -z $ign_world ]; then
+
 		# starting ign gazebo with ${PX4_SIM_WORLD} world
 		echo "INFO  [init] starting ign gazebo"
 
@@ -31,16 +34,37 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 			ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
 		fi
 	else
-		echo "INFO  [init] ign gazebo already running"
+		echo "INFO  [init] ign gazebo already running world: $ign_world"
+		PX4_SIM_WORLD=$ign_world
 	fi
 
-	if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
-		sensor_baro_sim start
-		sensor_gps_sim start
-		sensor_mag_sim start
+	if [ -z $PX4_IGN_MODEL_POSE ]; then
+		# start ignition bridge without pose arg.
+		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
+		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
 	else
-		echo "ERROR  [init] ign gazebo failed to start"
-		exit 1
+
+		# Clean potential input line formatting.
+		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
+
+		# start ignition bridge with pose arg.
+		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+
 	fi
 
 else
diff --git a/Tools/simulation/ignition/models/x4/materials/textures/led.jpg b/Tools/simulation/ignition/models/x4/materials/textures/led.jpg
deleted file mode 100644
index f8dfa4740a448393b7fcafa371f41a345e40f72c..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/Tools/simulation/ignition/models/x4/meshes/led.dae b/Tools/simulation/ignition/models/x4/meshes/led.dae
deleted file mode 100644
index 2618276626..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/led.dae
+++ /dev/null
@@ -1,529 +0,0 @@
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index 9612ec2c35..0000000000
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diff --git a/Tools/simulation/ignition/models/x4/meshes/neo11_propeller_ccw.dae b/Tools/simulation/ignition/models/x4/meshes/neo11_propeller_ccw.dae
deleted file mode 100644
index 7ee015b67f..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/neo11_propeller_ccw.dae
+++ /dev/null
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diff --git a/Tools/simulation/ignition/models/x4/meshes/neo11_propeller_cw.dae b/Tools/simulation/ignition/models/x4/meshes/neo11_propeller_cw.dae
deleted file mode 100644
index 54e67b0c24..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/neo11_propeller_cw.dae
+++ /dev/null
@@ -1,160 +0,0 @@
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\ No newline at end of file
diff --git a/Tools/simulation/ignition/models/x4/meshes/pelican.dae b/Tools/simulation/ignition/models/x4/meshes/pelican.dae
deleted file mode 100644
index baa61762dc..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/pelican.dae
+++ /dev/null
@@ -1,74 +0,0 @@
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diff --git a/Tools/simulation/ignition/models/x4/meshes/propeller_ccw.dae b/Tools/simulation/ignition/models/x4/meshes/propeller_ccw.dae
deleted file mode 100644
index 1f2679e429..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/propeller_ccw.dae
+++ /dev/null
@@ -1,63 +0,0 @@
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-        <modified>Fr. Dez 19 16:06:25 2014</modified>
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diff --git a/Tools/simulation/ignition/models/x4/meshes/propeller_cw.dae b/Tools/simulation/ignition/models/x4/meshes/propeller_cw.dae
deleted file mode 100644
index 04044f3438..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/propeller_cw.dae
+++ /dev/null
@@ -1,63 +0,0 @@
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diff --git a/Tools/simulation/ignition/models/x4/meshes/spotlight.dae b/Tools/simulation/ignition/models/x4/meshes/spotlight.dae
deleted file mode 100644
index a91f25b4f4..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/spotlight.dae
+++ /dev/null
@@ -1,2770 +0,0 @@
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diff --git a/Tools/simulation/ignition/models/x4/meshes/vi_camera.dae b/Tools/simulation/ignition/models/x4/meshes/vi_camera.dae
deleted file mode 100644
index f71c0f4755..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/vi_camera.dae
+++ /dev/null
@@ -1,140 +0,0 @@
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-            <author>Fadri Furrer</author>
-            <authoring_tool>VCGLib | MeshLab</authoring_tool>
-        </contributor>
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-        <modified>Wed Jul 29 18:08:40 2015</modified>
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diff --git a/Tools/simulation/ignition/models/x4/meshes/vi_sensor.dae b/Tools/simulation/ignition/models/x4/meshes/vi_sensor.dae
deleted file mode 100644
index 721286a376..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/vi_sensor.dae
+++ /dev/null
@@ -1,139 +0,0 @@
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-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <author>Fadri Furrer</author>
-            <authoring_tool>VCGLib | MeshLab</authoring_tool>
-        </contributor>
-        <up_axis>Y_UP</up_axis>
-        <created>Fr. Dez 5 14:22:48 2014</created>
-        <modified>Fr. Dez 5 14:22:48 2014</modified>
-    </asset>
-    <library_images>
-        <image id="texture0" name="texture0">
-            <init_from>vi_sensor.jpg</init_from>
-        </image>
-    </library_images>
-    <library_materials>
-        <material id="material0" name="material0">
-            <instance_effect url="#material0-fx"/>
-        </material>
-    </library_materials>
-    <library_effects>
-        <effect id="material0-fx">
-            <profile_COMMON>
-                <newparam sid="texture0-surface">
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-                        <init_from>texture0</init_from>
-                        <format>A8R8G8B8</format>
-                    </surface>
-                </newparam>
-                <newparam sid="texture0-sampler">
-                    <sampler2D>
-                        <source>texture0-surface</source>
-                        <minfilter>LINEAR</minfilter>
-                        <magfilter>LINEAR</magfilter>
-                    </sampler2D>
-                </newparam>
-                <technique sid="common">
-                    <blinn>
-                        <diffuse>
-                            <texture texture="texture0-sampler" texcoord="UVSET0"/>
-                        </diffuse>
-                        <emission>
-                            <color>200 200 200 1</color>
-                        </emission>
-                        <ambient>
-                            <color>100 100 100 1</color>
-                        </ambient>
-                        <index_of_refraction>
-                            <float>0.5</float>
-                        </index_of_refraction>
-                        <shininess>
-                            <float>0.8</float>
-                        </shininess>
-                        <reflective>
-                            <color>255 255 255 1</color>
-                        </reflective>
-                        <reflectivity>
-                            <float>0.5</float>
-                        </reflectivity>
-                    </blinn>
-                </technique>
-            </profile_COMMON>
-        </effect>
-    </library_effects>
-    <library_geometries>
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116897 116897 35163 105489 15987 15987 35163 105490 116898 116898 35163 105491 116899 116899 35164 105492 116900 116900 35164 105493 116901 116901 35164 105494 116902 116902 35165 105495 116903 116903 35165 105496 116904 116904 35165 105497 116905 116905 35166 105498 15993 15993 35166 105499 15984 15984 35166 105500 116906 116906 35167 105501 116907 116907 35167 105502 116908 116908 35167 105503 116909 116909 35168 105504 116910 116910 35168 105505 116911 116911 35168 105506 116912 116912 35169 105507 116913 116913 35169 105508 116914 116914 35169 105509 15989 15989 35170 105510 116915 116915 35170 105511 116916 116916 35170 105512 116917 116917 35171 105513 116918 116918 35171 105514 116919 116919 35171 105515 16030 16030 35172 105516 16017 16017 35172 105517 15988 15988 35172 105518 16020 16020 35173 105519 15992 15992 35173 105520 116920 116920 35173 105521 116921 116921 35174 105522 15990 15990 35174 105523 116922 116922 35174 105524 116923 116923 35175 105525 116924 116924 35175 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-            </mesh>
-        </geometry>
-    </library_geometries>
-    <library_visual_scenes>
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-        </visual_scene>
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-    <scene>
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-</COLLADA>
diff --git a/Tools/simulation/ignition/models/x4/meshes/vi_sensor.jpg b/Tools/simulation/ignition/models/x4/meshes/vi_sensor.jpg
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diff --git a/Tools/simulation/ignition/models/x4/meshes/x4.dae b/Tools/simulation/ignition/models/x4/meshes/x4.dae
deleted file mode 100644
index 9f856d0328..0000000000
--- a/Tools/simulation/ignition/models/x4/meshes/x4.dae
+++ /dev/null
@@ -1,12596 +0,0 @@
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diff --git a/Tools/simulation/ignition/models/x4/model.config b/Tools/simulation/ignition/models/x4/model.config
deleted file mode 100644
index d520cb2445..0000000000
--- a/Tools/simulation/ignition/models/x4/model.config
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>x4</name>
-  <version>1.0</version>
-  <sdf version="1.6">model.sdf</sdf>
-
-  <author>
-    <name>Luis Pinto</name>
-    <email>luis.pinto@mov.ai</email>
-  </author>
-
-
-  <description>
-    X4 UAV with sensor configuration #1: IMU, pressure sensor, magnetometer + GPS , RGBD
-  </description>
-</model>
diff --git a/Tools/simulation/ignition/models/x4/model.sdf b/Tools/simulation/ignition/models/x4/model.sdf
deleted file mode 100644
index ef78b7d2cb..0000000000
--- a/Tools/simulation/ignition/models/x4/model.sdf
+++ /dev/null
@@ -1,822 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version="1.6">
-   <model name="x4">
-      <pose>0 0 0.121078 0 0 0</pose>
-      <link name="base_link">
-         <pose frame="">0 0 0 0 -0 0</pose>
-         <inertial>
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <mass>3.42</mass>
-            <inertia>
-               <ixx>0.075</ixx>
-               <ixy>0</ixy>
-               <ixz>0</ixz>
-               <iyy>0.075</iyy>
-               <iyz>0</iyz>
-               <izz>0.148916</izz>
-            </inertia>
-         </inertial>
-         <collision name="base_link_inertia_collision">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <box>
-                  <size>0.3 0.3 0.25</size>
-               </box>
-            </geometry>
-         </collision>
-         <visual name="base_link_inertia_visual">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/x4.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <visual name="marker_visual_1">
-            <pose frame="">-0.1 0 0.077 0 -0.1 0</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/led.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <visual name="marker_visual_2">
-            <pose frame="">-0.09 0.059 0.059 -0.785397 -0 0.2</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/led.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <visual name="marker_visual_3">
-            <pose frame="">-0.09 -0.059 0.059 0.785397 -0 -0.2</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/led.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <visual name="downward_flashlight_visual">
-            <pose frame="">-0.043704 0 0.102914 -0.2 0.000158 -1.57002</pose>
-            <geometry>
-               <mesh>
-                  <scale>0.01 0.01 0.01</scale>
-                  <uri>meshes/spotlight.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <visual name="left_flashlight_visual">
-            <pose frame="">-0.071985 0.090826 0.066102 0.06 -4.8e-05 -1.27</pose>
-            <geometry>
-               <mesh>
-                  <scale>0.01 0.01 0.01</scale>
-                  <uri>meshes/spotlight.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <visual name="right_flashlight_visual">
-            <pose frame="">-0.071985 -0.090826 0.066102 0.06 -4.8e-05 -1.87</pose>
-            <geometry>
-               <mesh>
-                  <scale>0.01 0.01 0.01</scale>
-                  <uri>meshes/spotlight.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <light name="right_light_source" type="spot">
-            <pose frame="">-0.0 -0.11 0.07 3.131592653589795 -1.5107899999999999 2.841592653589791</pose>
-            <attenuation>
-               <range>15</range>
-               <linear>0</linear>
-               <constant>0.1</constant>
-               <quadratic>0.01</quadratic>
-            </attenuation>
-            <diffuse>0.8 0.8 0.5 1</diffuse>
-            <specular>0.8 0.8 0.5 1</specular>
-            <spot>
-               <inner_angle>1</inner_angle>
-               <outer_angle>1.1</outer_angle>
-               <falloff>1</falloff>
-            </spot>
-            <direction>0 0 -1</direction>
-            <cast_shadows>1</cast_shadows>
-         </light>
-         <light name="downward_flashlight_source" type="spot">
-            <pose frame="">0.03 0 0.09 -0.01 -1.3708026535897933 0</pose>
-            <attenuation>
-               <range>15</range>
-               <linear>0</linear>
-               <constant>0.1</constant>
-               <quadratic>0.01</quadratic>
-            </attenuation>
-            <diffuse>0.8 0.8 0.5 1</diffuse>
-            <specular>0.8 0.8 0.5 1</specular>
-            <spot>
-               <inner_angle>1</inner_angle>
-               <outer_angle>1.1</outer_angle>
-               <falloff>1</falloff>
-            </spot>
-            <direction>0 0 -1</direction>
-            <cast_shadows>1</cast_shadows>
-         </light>
-         <light name="left_flashlight_source" type="spot">
-            <pose frame="">-0.0 0.11 0.07 3.131592653589795 -1.5107899999999999 -2.841592653589791</pose>
-            <attenuation>
-               <range>15</range>
-               <linear>0</linear>
-               <constant>0.1</constant>
-               <quadratic>0.01</quadratic>
-            </attenuation>
-            <diffuse>0.8 0.8 0.5 1</diffuse>
-            <specular>0.8 0.8 0.5 1</specular>
-            <spot>
-               <inner_angle>1</inner_angle>
-               <outer_angle>1.1</outer_angle>
-               <falloff>1</falloff>
-            </spot>
-            <direction>0 0 -1</direction>
-            <cast_shadows>1</cast_shadows>
-         </light>
-         <sensor name="imu_sensor" type="imu">
-            <always_on>1</always_on>
-            <update_rate>250</update_rate>
-            <imu>
-               <angular_velocity>
-                  <x>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.009</stddev>
-                        <bias_mean>0.00075</bias_mean>
-                        <bias_stddev>0.005</bias_stddev>
-                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                        <precision>0.00025</precision>
-                     </noise>
-                  </x>
-                  <y>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.009</stddev>
-                        <bias_mean>0.00075</bias_mean>
-                        <bias_stddev>0.005</bias_stddev>
-                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                        <precision>0.00025</precision>
-                     </noise>
-                  </y>
-                  <z>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.009</stddev>
-                        <bias_mean>0.00075</bias_mean>
-                        <bias_stddev>0.005</bias_stddev>
-                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                        <precision>0.00025</precision>
-                     </noise>
-                  </z>
-               </angular_velocity>
-               <linear_acceleration>
-                  <x>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.021</stddev>
-                        <bias_mean>0.05</bias_mean>
-                        <bias_stddev>0.0075</bias_stddev>
-                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                        <precision>0.005</precision>
-                     </noise>
-                  </x>
-                  <y>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.021</stddev>
-                        <bias_mean>0.05</bias_mean>
-                        <bias_stddev>0.0075</bias_stddev>
-                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                        <precision>0.005</precision>
-                     </noise>
-                  </y>
-                  <z>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.021</stddev>
-                        <bias_mean>0.05</bias_mean>
-                        <bias_stddev>0.0075</bias_stddev>
-                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                        <precision>0.005</precision>
-                     </noise>
-                  </z>
-               </linear_acceleration>
-            </imu>
-         </sensor>
-
-         <visual name="camera_mount_base_visual">
-            <pose>0.05 0 -0.030 0 0.0 0</pose>
-            <geometry>
-               <box>
-                  <size>0.06 0.06 0.006</size>
-               </box>
-            </geometry>
-         </visual>
-         <visual name="camera_mount_arm_visual">
-            <pose>0.08 0 -0.040 0 0.0 0</pose>
-            <geometry>
-               <cylinder>
-                  <radius>0.005</radius>
-                  <length>0.08</length>
-               </cylinder>
-            </geometry>
-         </visual>
-         <visual name="camera_mount_arm2_visual">
-            <pose>0.08 0 -0.08 0 1.57 0</pose>
-            <geometry>
-               <cylinder>
-                  <radius>0.01</radius>
-                  <length>0.025</length>
-               </cylinder>
-            </geometry>
-         </visual>
-         <visual name="camera_visual">
-            <pose>0.1 0 -0.08 0 0 0</pose>
-            <geometry>
-               <box>
-                  <size>0.02 0.025 0.025</size>
-               </box>
-            </geometry>
-         </visual>
-         <sensor name="camera_front" type="rgbd_camera">
-            <pose>0.2 0 0 0 +.785 0</pose>
-            <always_on>1</always_on>
-            <update_rate>20</update_rate>
-            <camera name="camera_front">
-               <horizontal_fov>1.0472</horizontal_fov>
-               <lens>
-                  <intrinsics>
-                     <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                     <fx>277.1</fx>
-                     <fy>277.1</fy>
-                     <!-- cx = ( width + 1 ) / 2 -->
-                     <cx>160.5</cx>
-                     <!-- cy = ( height + 1 ) / 2 -->
-                     <cy>120.5</cy>
-                     <s>0</s>
-                  </intrinsics>
-               </lens>
-               <distortion>
-                  <k1>0.0</k1>
-                  <k2>0.0</k2>
-                  <k3>0.0</k3>
-                  <p1>0.0</p1>
-                  <p2>0.0</p2>
-                  <center>0.5 0.5</center>
-               </distortion>
-               <image>
-                  <width>320</width>
-                  <height>240</height>
-                  <format>R8G8B8</format>
-               </image>
-               <clip>
-                  <near>0.01</near>
-                  <far>300</far>
-               </clip>
-               <depth_camera>
-                  <clip>
-                     <near>0.1</near>
-                     <far>10</far>
-                  </clip>
-               </depth_camera>
-               <noise>
-                  <type>gaussian</type>
-                  <mean>0</mean>
-                  <stddev>0.007</stddev>
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diff --git a/Tools/simulation/ignition/models/x500/materials/textures/CF.png b/Tools/simulation/ignition/models/x500-Base/materials/textures/CF.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500/materials/textures/CF.png
rename to Tools/simulation/ignition/models/x500-Base/materials/textures/CF.png
diff --git a/Tools/simulation/ignition/models/x500/materials/textures/nxp.png b/Tools/simulation/ignition/models/x500-Base/materials/textures/nxp.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500/materials/textures/nxp.png
rename to Tools/simulation/ignition/models/x500-Base/materials/textures/nxp.png
diff --git a/Tools/simulation/ignition/models/x500/materials/textures/rd.png b/Tools/simulation/ignition/models/x500-Base/materials/textures/rd.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500/materials/textures/rd.png
rename to Tools/simulation/ignition/models/x500-Base/materials/textures/rd.png
diff --git a/Tools/simulation/ignition/models/x500/meshes/1345_prop_ccw.stl b/Tools/simulation/ignition/models/x500-Base/meshes/1345_prop_ccw.stl
similarity index 100%
rename from Tools/simulation/ignition/models/x500/meshes/1345_prop_ccw.stl
rename to Tools/simulation/ignition/models/x500-Base/meshes/1345_prop_ccw.stl
diff --git a/Tools/simulation/ignition/models/x500/meshes/1345_prop_cw.stl b/Tools/simulation/ignition/models/x500-Base/meshes/1345_prop_cw.stl
similarity index 100%
rename from Tools/simulation/ignition/models/x500/meshes/1345_prop_cw.stl
rename to Tools/simulation/ignition/models/x500-Base/meshes/1345_prop_cw.stl
diff --git a/Tools/simulation/ignition/models/x500/meshes/5010Base.dae b/Tools/simulation/ignition/models/x500-Base/meshes/5010Base.dae
similarity index 100%
rename from Tools/simulation/ignition/models/x500/meshes/5010Base.dae
rename to Tools/simulation/ignition/models/x500-Base/meshes/5010Base.dae
diff --git a/Tools/simulation/ignition/models/x500/meshes/5010Bell.dae b/Tools/simulation/ignition/models/x500-Base/meshes/5010Bell.dae
similarity index 100%
rename from Tools/simulation/ignition/models/x500/meshes/5010Bell.dae
rename to Tools/simulation/ignition/models/x500-Base/meshes/5010Bell.dae
diff --git a/Tools/simulation/ignition/models/x500/meshes/CF.png b/Tools/simulation/ignition/models/x500-Base/meshes/CF.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500/meshes/CF.png
rename to Tools/simulation/ignition/models/x500-Base/meshes/CF.png
diff --git a/Tools/simulation/ignition/models/x500/meshes/NXP-HGD-CF.dae b/Tools/simulation/ignition/models/x500-Base/meshes/NXP-HGD-CF.dae
similarity index 100%
rename from Tools/simulation/ignition/models/x500/meshes/NXP-HGD-CF.dae
rename to Tools/simulation/ignition/models/x500-Base/meshes/NXP-HGD-CF.dae
diff --git a/Tools/simulation/ignition/models/x500-Base/model.config b/Tools/simulation/ignition/models/x500-Base/model.config
new file mode 100644
index 0000000000..e9b725806d
--- /dev/null
+++ b/Tools/simulation/ignition/models/x500-Base/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-Base</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Benjamin Perseghetti</name>
+    <email>bperseghetti@rudislabs.com</email>
+  </author>
+  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
+</model>
diff --git a/Tools/simulation/ignition/models/x500-Base/model.sdf b/Tools/simulation/ignition/models/x500-Base/model.sdf
new file mode 100644
index 0000000000..a265a7d7c2
--- /dev/null
+++ b/Tools/simulation/ignition/models/x500-Base/model.sdf
@@ -0,0 +1,516 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Base'>
+    <pose>0 0 .24 0 0 0</pose>
+    <self_collide>false</self_collide>
+    <static>false</static>
+    <link name="base_link">
+      <inertial>
+        <mass>2.0</mass>
+        <inertia>
+          <ixx>0.02166666666666667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
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+          <specular>1.0 1.0 1.0</specular>
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+        <cast_shadows>false</cast_shadows>
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+        <geometry>
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+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>250</update_rate>
+      </sensor>
+    </link>
+    <link name="rotor_0">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>0.174 -0.174 0.06 0 0 0</pose>
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+            <iyy>2.6115851691700804e-05</iyy>
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+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
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+            <uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_0_visual_motor_bell">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
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+        <limit>
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+          <upper>1e+16</upper>
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+        <dynamics>
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+          <spring_stiffness>0</spring_stiffness>
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+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
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+        <geometry>
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+      <pose>0.174 0.174 0.06 0 0 0</pose>
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+        <material>
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diff --git a/Tools/simulation/ignition/models/x500-Depth/model.config b/Tools/simulation/ignition/models/x500-Depth/model.config
new file mode 100644
index 0000000000..813dbc58ac
--- /dev/null
+++ b/Tools/simulation/ignition/models/x500-Depth/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-Depth</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Benjamin Perseghetti</name>
+    <email>bperseghetti@rudislabs.com</email>
+  </author>
+  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
+</model>
diff --git a/Tools/simulation/ignition/models/x500-Depth/model.sdf b/Tools/simulation/ignition/models/x500-Depth/model.sdf
new file mode 100644
index 0000000000..e171c7a457
--- /dev/null
+++ b/Tools/simulation/ignition/models/x500-Depth/model.sdf
@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Depth'>
+    <include merge='true'>
+      <uri>model://x500-Base</uri>
+    </include>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>model/x500-Depth</robotNamespace>
+      <jointName>rotor_0_joint</jointName>
+      <linkName>rotor_0</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>0</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>model/x500-Depth</robotNamespace>
+      <jointName>rotor_1_joint</jointName>
+      <linkName>rotor_1</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>1</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>model/x500-Depth</robotNamespace>
+      <jointName>rotor_2_joint</jointName>
+      <linkName>rotor_2</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>2</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>model/x500-Depth</robotNamespace>
+      <jointName>rotor_3_joint</jointName>
+      <linkName>rotor_3</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>3</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>OakD-Lite/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>
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diff --git a/Tools/simulation/ignition/models/x500/model.config b/Tools/simulation/ignition/models/x500/model.config
index c92bc5828d..d927576e36 100644
--- a/Tools/simulation/ignition/models/x500/model.config
+++ b/Tools/simulation/ignition/models/x500/model.config
@@ -2,7 +2,7 @@
 <model>
   <name>x500</name>
   <version>1.0</version>
-  <sdf version="1.6">model.sdf</sdf>
+  <sdf version="1.9">model.sdf</sdf>
   <author>
     <name>Benjamin Perseghetti</name>
     <email>bperseghetti@rudislabs.com</email>
diff --git a/Tools/simulation/ignition/models/x500/model.sdf b/Tools/simulation/ignition/models/x500/model.sdf
index 448e91debb..5af082d173 100644
--- a/Tools/simulation/ignition/models/x500/model.sdf
+++ b/Tools/simulation/ignition/models/x500/model.sdf
@@ -1,520 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.6'>
+<sdf version='1.9'>
   <model name='x500'>
-    <pose>0 0 .24 0 0 0</pose>
-    <self_collide>false</self_collide>
-    <static>false</static>
-    <link name="base_link">
-      <inertial>
-        <mass>2.0</mass>
-        <inertia>
-          <ixx>0.02166666666666667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.02166666666666667</iyy>
-          <iyz>0</iyz>
-          <izz>0.04000000000000001</izz>
-        </inertia>
-      </inertial>
-      <gravity>true</gravity>
-      <velocity_decay/>
-      <visual name="base_link_visual">
-        <pose>0 0 .025 0 0 3.141592654</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/NXP-HGD-CF.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_0">
-        <pose>0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_1">
-        <pose>-0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_2">
-        <pose>0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_3">
-        <pose>-0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="NXP_FMUK66_FRONT">
-        <pose>0.047 .001 .043 1 0 1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="NXP_FMUK66_TOP">
-        <pose>-0.023 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="RDDRONE_FMUK66_TOP">
-        <pose>-.03 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.032 .0034</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500/materials/textures/rd.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="base_link_collision_0">
-        <pose>0 0 .007 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.35355339059327373 0.35355339059327373 0.05</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_1">
-        <pose>0 -0.098 -.123 -0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_2">
-        <pose>0 0.098 -.123 0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_3">
-        <pose>0 -0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_4">
-        <pose>0 0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-      </sensor>
-    </link>
-    <link name="rotor_0">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>0.174 -0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_0_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500/meshes/1345_prop_ccw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_0_visual_motor_bell">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_0_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_0_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_0</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_1">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>-0.174 0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_1_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500/meshes/1345_prop_ccw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_1_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_1_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_1_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_1</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_2">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>0.174 0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_2_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500/meshes/1345_prop_cw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_2_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_2_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_2_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_2</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_3">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>-0.174 -0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_3_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500/meshes/1345_prop_cw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_3_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_3_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_3_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_3</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
+    <include merge='true'>
+      <uri>model://x500-Base</uri>
+    </include>
     <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
+      <robotNamespace>model/x500</robotNamespace>
       <jointName>rotor_0_joint</jointName>
       <linkName>rotor_0</linkName>
       <turningDirection>ccw</turningDirection>
@@ -531,7 +22,7 @@
       <motorType>velocity</motorType>
     </plugin>
     <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
+      <robotNamespace>model/x500</robotNamespace>
       <jointName>rotor_1_joint</jointName>
       <linkName>rotor_1</linkName>
       <turningDirection>ccw</turningDirection>
@@ -548,7 +39,7 @@
       <motorType>velocity</motorType>
     </plugin>
     <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
+      <robotNamespace>model/x500</robotNamespace>
       <jointName>rotor_2_joint</jointName>
       <linkName>rotor_2</linkName>
       <turningDirection>cw</turningDirection>
@@ -565,7 +56,7 @@
       <motorType>velocity</motorType>
     </plugin>
     <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
+      <robotNamespace>model/x500</robotNamespace>
       <jointName>rotor_3_joint</jointName>
       <linkName>rotor_3</linkName>
       <turningDirection>cw</turningDirection>
@@ -582,4 +73,4 @@
       <motorType>velocity</motorType>
     </plugin>
   </model>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/Tools/simulation/ignition/worlds/default.sdf b/Tools/simulation/ignition/worlds/default.sdf
index 7aff0eecfe..ca2ef31634 100644
--- a/Tools/simulation/ignition/worlds/default.sdf
+++ b/Tools/simulation/ignition/worlds/default.sdf
@@ -9,6 +9,7 @@
     <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
     <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
     <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
+    <plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
     <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
       <render_engine>ogre2</render_engine>
     </plugin>
diff --git a/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp b/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
index c0340976bb..4f2926af9c 100644
--- a/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
+++ b/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
@@ -7,14 +7,14 @@
  * are met:
  *
  * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
+ *	notice, this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
  * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
@@ -42,10 +42,11 @@
 #include <iostream>
 #include <string>
 
-SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *model) :
+SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str) :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
 	_world_name(world),
-	_model_name(model)
+	_model_name(model),
+	_model_pose(pose_str)
 {
 	pthread_mutex_init(&_mutex, nullptr);
 
@@ -72,7 +73,40 @@ int SimulatorIgnitionBridge::init()
 	// req.set_name("model_instance_name"); // New name for the entity, overrides the name on the SDF.
 	req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
 
-	// /world/$WORLD/create service.
+	if (!_model_pose.empty()) {
+		PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
+
+		std::vector<float> model_pose_v;
+
+		std::stringstream ss(_model_pose);
+
+		while (ss.good()) {
+			std::string substr;
+			std::getline(ss, substr, ',');
+			model_pose_v.push_back(std::stof(substr));
+		}
+
+		while (model_pose_v.size() < 6) {
+			model_pose_v.push_back(0.0);
+		}
+
+		ignition::msgs::Pose *p = req.mutable_pose();
+		ignition::msgs::Vector3d *position = p->mutable_position();
+		position->set_x(model_pose_v[0]);
+		position->set_y(model_pose_v[1]);
+		position->set_z(model_pose_v[2]);
+
+		ignition::math::Quaterniond q(model_pose_v[3], model_pose_v[4], model_pose_v[5]);
+
+		q.Normalize();
+		ignition::msgs::Quaternion *orientation = p->mutable_orientation();
+		orientation->set_x(q.X());
+		orientation->set_y(q.Y());
+		orientation->set_z(q.Z());
+		orientation->set_w(q.W());
+	}
+
+	//world/$WORLD/create service.
 	ignition::msgs::Boolean rep;
 	bool result;
 	std::string create_service = "/world/" + _world_name + "/create";
@@ -118,7 +152,7 @@ int SimulatorIgnitionBridge::init()
 	}
 
 	// output eg /X3/command/motor_speed
-	std::string actuator_topic = _model_name + "/command/motor_speed";
+	std::string actuator_topic = "model/" + _model_name + "/command/motor_speed";
 	_actuators_pub = _node.Advertise<ignition::msgs::Actuators>(actuator_topic);
 
 	if (!_actuators_pub.Valid()) {
@@ -134,13 +168,15 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 {
 	const char *world_name = "default";
 	const char *model_name = nullptr;
+	const char *model_pose = nullptr;
+
 
 	bool error_flag = false;
 	int myoptind = 1;
 	int ch;
 	const char *myoptarg = nullptr;
 
-	while ((ch = px4_getopt(argc, argv, "w:m:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "w:m:p:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'w':
 			// world
@@ -152,6 +188,11 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 			model_name = myoptarg;
 			break;
 
+		case 'p':
+			// pose
+			model_pose = myoptarg;
+			break;
+
 		case '?':
 			error_flag = true;
 			break;
@@ -169,7 +210,11 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 
 	PX4_INFO("world: %s, model: %s", world_name, model_name);
 
-	SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name);
+	if (!model_pose) {
+		model_pose = "";
+	}
+
+	SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name, model_pose);
 
 	if (instance) {
 		_object.store(instance);
@@ -466,6 +511,7 @@ int SimulatorIgnitionBridge::print_usage(const char *reason)
 	PRINT_MODULE_USAGE_NAME("simulator_ignition_bridge", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Model name", false);
+	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, nullptr, "Model Pose", false);
 	PRINT_MODULE_USAGE_PARAM_STRING('w', nullptr, nullptr, "World name", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
diff --git a/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp b/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp
index 6f05aebf16..b9bf0af93f 100644
--- a/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp
+++ b/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp
@@ -54,7 +54,7 @@
 
 #include <ignition/msgs.hh>
 #include <ignition/transport.hh>
-
+#include <ignition/math.hh>
 #include <ignition/msgs/imu.pb.h>
 
 using namespace time_literals;
@@ -62,7 +62,7 @@ using namespace time_literals;
 class SimulatorIgnitionBridge : public ModuleBase<SimulatorIgnitionBridge>, public OutputModuleInterface
 {
 public:
-	SimulatorIgnitionBridge(const char *world, const char *model);
+	SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str);
 	~SimulatorIgnitionBridge() override;
 
 	/** @see ModuleBase */
@@ -118,6 +118,7 @@ private:
 
 	const std::string _world_name;
 	const std::string _model_name;
+	const std::string _model_pose;
 
 	MixingOutput _mixing_output{"SIM_IGN", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};