Cleanup models (#35)

- Remove cmac world - StaticMapPlugin not available in Gazebo Sim
- Rename world files and use .sdf suffix.
- Update runway model - reduce the gap between the airstrip and ground as upstream z-order has been fixed.
- Update zephyr runway world - remove commented out pose.
- Update iris warehouse world - remove models that do not load because of incorrect server details.
- Split zephyr model into a base model and plugin model with ardupilot integration.
- Set zephyr runway model to run with RTF > 1
- Update README - describe how to run the zephyr model.

Signed-off-by: Rhys Mainwaring <[email protected]>

README.md

@@ -65,9 +65,7 @@ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
 make -j4
 ```
 
-## Usage
-
-### Configure environment
+## Configure
 
 Set the Gazebo environment variables in your `.bashrc` or `.zshrc` or in 
 the terminal used to run Gazebo.
@@ -92,33 +90,81 @@ echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_
 
 Reload your terminal with `source ~/.bashrc` (or `source ~/.zshrc` on macOS).
 
-### Run Gazebo
+## Usage
+
+### 1. Iris quad-copter
+
+#### Run Gazebo
 
 ```bash
-gz sim -v4 -r iris_arducopter_runway.world
+gz sim -v4 -r iris_runway.sdf
 ```
 
 The `-v4` parameter is not mandatory, it shows additional information and is
 useful for troubleshooting.
 
-### Run ArduPilot SITL
+#### Run ArduPilot SITL
 
 To run an ArduPilot simulation with Gazebo, the frame should have `gazebo-`
 in it and have `JSON` as model. Other commandline parameters are the same
-as usal on SITL.
+as usual on SITL.
 
 ```bash
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console
 ```
 
-### Arm and takeoff
+#### Arm and takeoff
 
 ```bash
 STABILIZE> mode guided
 GUIDED> arm throttle
 GUIDED> takeoff 5
 ```
 
+### 2. Zephyr delta wing  
+
+The Zephyr delta wing is positioned on the runway for vertical take-off. 
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r zephyr_runway.sdf
+```
+
+#### Run ArduPilot SITL
+
+```bash
+sim_vehicle.py -v ArduPlane -f gazebo-zephyr --model JSON --map --console
+```
+
+#### Arm, takeoff and circle
+
+```bash
+MANUAL> mode fbwa
+FBWA> arm throttle
+FBWA> rc 3 1800
+FBWA> mode circle
+```
+
+#### Increase the simulation speed
+
+The `zephyr_runway.sdf` world has a `<physics>` element configured to run
+faster than real time: 
+
+```xml
+<physics name="1ms" type="ignore">
+  <max_step_size>0.001</max_step_size>
+  <real_time_factor>-1.0</real_time_factor>
+</physics>
+```
+
+To see the effect of the speed-up set the param `SIM_SPEEDUP` to a value
+greater than one:
+
+```bash
+MANUAL> param set SIM_SPEEDUP 10
+```
+
 ## Troubleshooting
 
 For issues concerning installing and running Gazebo on your platform please

models/runway/model.config

@@ -2,7 +2,7 @@
 <model>
   <name>Runway</name>
   <version>1.0</version>
-  <sdf version="1.6">model.sdf</sdf>
+  <sdf version="1.7">model.sdf</sdf>
 
   <author>
     <name>Rhys Mainwaring</name>

models/runway/model.sdf

@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version="1.6">
+<sdf version="1.7">
   <model name="runway">
     <static>true</static>
     <link name="link">
@@ -34,7 +34,7 @@
         </material>
       </visual>
       <visual name="airfield">
-        <pose>0 0 -0.5 0 0 0</pose>
+        <pose>0 0 -0.01 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>

models/zephyr/model.config

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Zephyr Delta Wing</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>[email protected]</email>
+  </author>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    A model of a Zephyr delta wing.
+
+    Updated materials for Gazebo Sim.
+  </description>
+
+</model>