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108 lines
5.2 KiB
Markdown
108 lines
5.2 KiB
Markdown
# Gazebo Worlds
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This topic provides imagery/information about the [Gazebo](../sim_gazebo_gz/index.md) worlds supported by PX4.
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The [default world](#default) is spawned by default, though this may be overridden by a [model specific world](#model_specific_worlds).
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Developers can also manually specify the world to load: [Gazebo > Specify World](../sim_gazebo_gz/index.md#specify-world) (or [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md#gazebo-models-repository-px4-gazebo-models)).
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The source code for supported worlds can be found in the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md#gazebo-models-repository-px4-gazebo-models) on GitHub here: [PX4/PX4-gazebo-models/tree/main/worlds](https://github.com/PX4/PX4-gazebo-models/tree/main/worlds).
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## Empty (Default) {#default}
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Empty world (a grey plane).
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This is used by default.
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[PX4-gazebo-models/main/worlds/default.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/default.sdf)
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## Aruco
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Aruco world is the default world with the addition of an [ArUco marker](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html).
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This is used in conjunction with the [x500_mono_cam_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-monocular-camera-down-facing) airframe to test [precision landing](../advanced_features/precland.md).
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[PX4-gazebo-models/main/worlds/aruco.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/aruco.sdf)
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## Baylands
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Baylands world surrounded by water.
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[PX4-gazebo-models/main/worlds/bayland.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/baylands.sdf)
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## Lawn
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Lawn is a flat green world that is a less-optimized alternative to [rover world](#rover).
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It is not recommended as the low frame rate causes segmentation faults on some frames.
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[PX4-gazebo-models/main/worlds/lawn.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/lawn.sdf)
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## 탐사선
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Rover world is optimised for rovers (and will be further optimised for rovers) and is the default world for [Ackermann Rover (4012)](../frames_rover/index.md#ackermann) (`make px4_sitl gz_rover_ackermann`) and [Differential Rover ((r1-rover (4009))](../frames_rover/index.md#differential) (`make px4_sitl gz_r1_rover`).
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[PX4-gazebo-models/main/worlds/rover.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/rover.sdf)
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:::info
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Rover world is very similar to [lawn world](#lawn), but with these tow main differences:
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- Grid on the ground which is useful as a reference while driving.
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- Higher update rate which solves segfault issues specifically with rovers with ackermann steering.
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:::
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## Walls
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World with walls that is designed for testing [collision prevention](../computer_vision/collision_prevention.md).
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[PX4-gazebo-models/main/worlds/walls.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/walls.sdf)
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## Windy
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[Empty world](#default) with wind enabled.
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[PX4-gazebo-models/main/worlds/windy.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/windy.sdf)
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## Moving Platform
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<Badge type="tip" text="PX4 v1.16" />
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[Empty world](#default) with the addition of a flat moving platform, to simulate drone operations from moving vehicles like ships or trucks. The platform is controlled by a plugin which is included in the world. The platform is at a height of 2m, so place the vehicle on it with:
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```
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PX4_GZ_MODEL_POSE=0,0,2.2 PX4_GZ_WORLD=moving_platform make px4_sitl gz_standard_vtol
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```
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The plugin can be configured with the following environment variables:
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- `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
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- `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.
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[PX4-gazebo-models/main/worlds/moving_platform.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/moving_platform.sdf)
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:::tip
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The moving platform plugin can also be used within other worlds.
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For more information, see the plugin [README](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_plugins/moving_platform_controller/README.md).
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:::
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## Model Specific Worlds {#model_specific_worlds}
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Some [vehicle models](../sim_gazebo_gz/vehicles.md) rely on the physics / plugins of a specific world.
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The PX4 toolchain will automatically spawn a world that has the same name as the vehicle model if one exists (instead of the [default world](#default)):
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The model specific worlds are:
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- [Aruco world](#aruco): Default world with an [ArUco marker](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) that can be used with [x500_mono_cam_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-monocular-camera-down-facing) for testing [precision landing](../advanced_features/precland.md).
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