From d587b32c1459c4fc93b59f451d4f6cde2e4c863a Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Wed, 20 Dec 2023 10:59:46 +0000
Subject: [PATCH] Models: update world orientation and fixes for Harmonic

- Anemometer: use degrees.
- Gimbal 1D: use degrees in pose.
- Gimbal 2D: use degrees in pose.
- Parachute: update plugin filename.
- Iris: use degrees, replace -0 with 0.
- Iris: remove z-offset from iris_with_standoffs model.
  - Remove z-offset from iris_with_standoffs, so model origin is at CoM.
  - Set pose in world file.
- Zephyr: use degrees.
- Zephyr: update parachute plugin name.
- Zephyr: disable moment coefficient contribution.
  - Required due to changed behaviour in Gazebo Harmonic.
- Update gimbal pose in iris_with_gimbal world.
- Update iris_warehouse world.
- Forward port remaining changes from `main`.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 models/gimbal_small_1d/model.sdf       |  2 +-
 models/gimbal_small_2d/model.sdf       |  2 +-
 models/iris_with_ardupilot/model.sdf   | 88 +++++++++++++-------------
 models/iris_with_gimbal/model.sdf      | 10 ++-
 models/iris_with_standoffs/model.sdf   | 36 +++++------
 models/parachute_small/model.sdf       |  4 +-
 models/runway/model.sdf                |  2 +-
 models/zephyr/model.sdf                |  4 +-
 models/zephyr_with_ardupilot/model.sdf | 14 ++--
 models/zephyr_with_parachute/model.sdf | 16 ++---
 tests/worlds/test_anemometer.sdf       | 51 ++++++++-------
 tests/worlds/test_gimbal.sdf           | 29 +++++----
 tests/worlds/test_parachute.sdf        |  5 +-
 worlds/iris_runway.sdf                 | 68 ++++++++++++++++++++
 worlds/iris_warehouse.sdf              | 26 ++++----
 worlds/zephyr_parachute.sdf            | 23 ++++++-
 worlds/zephyr_runway.sdf               | 69 +++++++++++++++++++-
 17 files changed, 308 insertions(+), 141 deletions(-)

diff --git a/models/gimbal_small_1d/model.sdf b/models/gimbal_small_1d/model.sdf
index bd128e4..adbe05b 100644
--- a/models/gimbal_small_1d/model.sdf
+++ b/models/gimbal_small_1d/model.sdf
@@ -108,7 +108,7 @@
         </geometry>
       </collision>
       <sensor name="camera" type="camera">
-        <pose>0 0 0 -1.57 -1.57 0</pose>
+        <pose degrees="true">0 0 0 -90 -90 0</pose>
         <camera>
           <horizontal_fov>2.0</horizontal_fov>
           <image>
diff --git a/models/gimbal_small_2d/model.sdf b/models/gimbal_small_2d/model.sdf
index 5306e9e..8b1cace 100644
--- a/models/gimbal_small_2d/model.sdf
+++ b/models/gimbal_small_2d/model.sdf
@@ -144,7 +144,7 @@
         </geometry>
       </collision>
       <sensor name="camera" type="camera">
-        <pose>0 0 0 -1.57 -1.57 0</pose>
+        <pose degrees="true">0 0 0 -90 -90 0</pose>
         <camera>
           <horizontal_fov>2.0</horizontal_fov>
           <image>
diff --git a/models/iris_with_ardupilot/model.sdf b/models/iris_with_ardupilot/model.sdf
index 4b3822f..6a57b73 100755
--- a/models/iris_with_ardupilot/model.sdf
+++ b/models/iris_with_ardupilot/model.sdf
@@ -79,9 +79,9 @@
     </link>
     <link name="rotor_0_blade_2_cp">
       <gravity>0</gravity>
-      <pose>0.13 -0.22 0.216 0 -0 0</pose>
+      <pose>0.13 -0.22 0.216 0 0 0</pose>
       <visual name='rotor_0_visual_root'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -93,7 +93,7 @@
         </material>
       </visual>
       <visual name='rotor_0_visual_tip'>
-        <pose>-0.12 0 0 0 -0 0</pose>
+        <pose>-0.12 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -105,7 +105,7 @@
         </material>
       </visual>
       <visual name='rotor_0_visual_cp'>
-        <pose>-0.084 0 0 0 -0 0</pose>
+        <pose>-0.084 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -117,7 +117,7 @@
         </material>
       </visual>
       <visual name='rotor_0_visual_cp_forward'>
-        <pose>-0.084 -0.02 0 0 -0 0</pose>
+        <pose>-0.084 -0.02 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -129,7 +129,7 @@
         </material>
       </visual>
       <visual name='rotor_0_visual_cp_upward'>
-        <pose>-0.084 0 0.02 0 -0 0</pose>
+        <pose>-0.084 0 0.02 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -166,9 +166,9 @@
 
     <link name="rotor_1_blade_1_cp">
       <gravity>0</gravity>
-      <pose>-0.13 0.2 0.216 0 -0 0</pose>
+      <pose>-0.13 0.2 0.216 0 0 0</pose>
       <visual name='rotor_1_visual_root'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -180,7 +180,7 @@
         </material>
       </visual>
       <visual name='rotor_1_visual_tip'>
-        <pose>0.12 0 0 0 -0 0</pose>
+        <pose>0.12 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -192,7 +192,7 @@
         </material>
       </visual>
       <visual name='rotor_1_visual_cp'>
-        <pose>0.084 0 0 0 -0 0</pose>
+        <pose>0.084 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -204,7 +204,7 @@
         </material>
       </visual>
       <visual name='rotor_1_visual_cp_forward'>
-        <pose>0.084 0.02 0 0 -0 0</pose>
+        <pose>0.084 0.02 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -216,7 +216,7 @@
         </material>
       </visual>
       <visual name='rotor_1_visual_cp_upward'>
-        <pose>0.084 0 0.02 0 -0 0</pose>
+        <pose>0.084 0 0.02 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -230,9 +230,9 @@
     </link>
     <link name="rotor_1_blade_2_cp">
       <gravity>0</gravity>
-      <pose>-0.13 0.2 0.216 0 -0 0</pose>
+      <pose>-0.13 0.2 0.216 0 0 0</pose>
       <visual name='rotor_1_visual_root'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -244,7 +244,7 @@
         </material>
       </visual>
       <visual name='rotor_1_visual_tip'>
-        <pose>-0.12 0 0 0 -0 0</pose>
+        <pose>-0.12 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -256,7 +256,7 @@
         </material>
       </visual>
       <visual name='rotor_1_visual_cp'>
-        <pose>-0.084 0 0 0 -0 0</pose>
+        <pose>-0.084 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -268,7 +268,7 @@
         </material>
       </visual>
       <visual name='rotor_1_visual_cp_forward'>
-        <pose>-0.084 -0.02 0 0 -0 0</pose>
+        <pose>-0.084 -0.02 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -280,7 +280,7 @@
         </material>
       </visual>
       <visual name='rotor_1_visual_cp_upward'>
-        <pose>-0.084 0 0.02 0 -0 0</pose>
+        <pose>-0.084 0 0.02 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -317,9 +317,9 @@
 
     <link name="rotor_2_blade_1_cp">
       <gravity>0</gravity>
-      <pose>0.13 0.22 0.216 0 -0 0</pose>
+      <pose>0.13 0.22 0.216 0 0 0</pose>
       <visual name='rotor_2_visual_root'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -331,7 +331,7 @@
         </material>
       </visual>
       <visual name='rotor_2_visual_tip'>
-        <pose>0.12 0 0 0 -0 0</pose>
+        <pose>0.12 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -343,7 +343,7 @@
         </material>
       </visual>
       <visual name='rotor_2_visual_cp'>
-        <pose>0.084 0 0 0 -0 0</pose>
+        <pose>0.084 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -355,7 +355,7 @@
         </material>
       </visual>
       <visual name='rotor_2_visual_cp_forward'>
-        <pose>0.084 -0.02 0 0 -0 0</pose>
+        <pose>0.084 -0.02 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -367,7 +367,7 @@
         </material>
       </visual>
       <visual name='rotor_2_visual_cp_upward'>
-        <pose>0.084 0 0.02 0 -0 0</pose>
+        <pose>0.084 0 0.02 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -381,9 +381,9 @@
     </link>
     <link name="rotor_2_blade_2_cp">
       <gravity>0</gravity>
-      <pose>0.13 0.22 0.216 0 -0 0</pose>
+      <pose>0.13 0.22 0.216 0 0 0</pose>
       <visual name='rotor_2_visual_root'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -395,7 +395,7 @@
         </material>
       </visual>
       <visual name='rotor_2_visual_tip'>
-        <pose>-0.12 0 0 0 -0 0</pose>
+        <pose>-0.12 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -407,7 +407,7 @@
         </material>
       </visual>
       <visual name='rotor_2_visual_cp'>
-        <pose>-0.084 0 0 0 -0 0</pose>
+        <pose>-0.084 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -419,7 +419,7 @@
         </material>
       </visual>
       <visual name='rotor_2_visual_cp_forward'>
-        <pose>-0.084 0.02 0 0 -0 0</pose>
+        <pose>-0.084 0.02 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -431,7 +431,7 @@
         </material>
       </visual>
       <visual name='rotor_2_visual_cp_upward'>
-        <pose>-0.084 0 0.02 0 -0 0</pose>
+        <pose>-0.084 0 0.02 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -468,9 +468,9 @@
 
     <link name="rotor_3_blade_1_cp">
       <gravity>0</gravity>
-      <pose>-0.13 -0.2 0.216 0 -0 0</pose>
+      <pose>-0.13 -0.2 0.216 0 0 0</pose>
       <visual name='rotor_3_visual_root'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -482,7 +482,7 @@
         </material>
       </visual>
       <visual name='rotor_3_visual_tip'>
-        <pose>0.12 0 0 0 -0 0</pose>
+        <pose>0.12 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -494,7 +494,7 @@
         </material>
       </visual>
       <visual name='rotor_3_visual_cp'>
-        <pose>0.084 0 0 0 -0 0</pose>
+        <pose>0.084 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -506,7 +506,7 @@
         </material>
       </visual>
       <visual name='rotor_3_visual_cp_forward'>
-        <pose>0.084 -0.02 0 0 -0 0</pose>
+        <pose>0.084 -0.02 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -518,7 +518,7 @@
         </material>
       </visual>
       <visual name='rotor_3_visual_cp_upward'>
-        <pose>0.084 0 0.02 0 -0 0</pose>
+        <pose>0.084 0 0.02 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -532,9 +532,9 @@
     </link>
     <link name="rotor_3_blade_2_cp">
       <gravity>0</gravity>
-      <pose>-0.13 -0.2 0.216 0 -0 0</pose>
+      <pose>-0.13 -0.2 0.216 0 0 0</pose>
       <visual name='rotor_3_visual_root'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -546,7 +546,7 @@
         </material>
       </visual>
       <visual name='rotor_3_visual_tip'>
-        <pose>-0.12 0 0 0 -0 0</pose>
+        <pose>-0.12 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.01</radius>
@@ -558,7 +558,7 @@
         </material>
       </visual>
       <visual name='rotor_3_visual_cp'>
-        <pose>-0.084 0 0 0 -0 0</pose>
+        <pose>-0.084 0 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -570,7 +570,7 @@
         </material>
       </visual>
       <visual name='rotor_3_visual_cp_forward'>
-        <pose>-0.084 0.02 0 0 -0 0</pose>
+        <pose>-0.084 0.02 0 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -582,7 +582,7 @@
         </material>
       </visual>
       <visual name='rotor_3_visual_cp_upward'>
-        <pose>-0.084 0 0.02 0 -0 0</pose>
+        <pose>-0.084 0 0.02 0 0 0</pose>
         <geometry>
           <sphere>
             <radius>0.003</radius>
@@ -791,8 +791,8 @@
       <!-- Frame conventions
         Require by ArduPilot: change model and gazebo from XYZ to XY-Z coordinates
       -->
-      <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
-      <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
+      <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
+      <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
 
       <!-- Sensors -->
       <imuName>iris_with_standoffs::imu_link::imu_sensor</imuName>
diff --git a/models/iris_with_gimbal/model.sdf b/models/iris_with_gimbal/model.sdf
index 8f97ba7..0840b23 100755
--- a/models/iris_with_gimbal/model.sdf
+++ b/models/iris_with_gimbal/model.sdf
@@ -9,7 +9,7 @@
     <include merge="true">
       <uri>package://ardupilot_gazebo/models/gimbal_small_2d</uri>
       <name>gimbal</name>
-      <pose>0 -0.01 -0.11 1.57 0 1.57</pose>
+      <pose degrees="true">0 -0.01 -0.124923 90 0 90</pose>    
     </include>
 
     <joint name="gimbal_joint" type="revolute">
@@ -228,8 +228,12 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
-      <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
-      <gazeboXYZToNED>0 0 0 3.141593 0 1.57079632</gazeboXYZToNED>
+
+      <!-- Frame conventions
+        Require by ArduPilot: change model and gazebo from XYZ to XY-Z coordinates
+      -->
+      <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
+      <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
 
       <!-- Sensors -->
       <imuName>imu_link::imu_sensor</imuName>
diff --git a/models/iris_with_standoffs/model.sdf b/models/iris_with_standoffs/model.sdf
index 3f89e4b..454da12 100755
--- a/models/iris_with_standoffs/model.sdf
+++ b/models/iris_with_standoffs/model.sdf
@@ -1,7 +1,7 @@
 <?xml version='1.0'?>
 <sdf version='1.9'>
   <model name='iris_with_standoffs'>
-    <!-- <pose>0 0 0.194923 0 0 0</pose> -->
+    <pose>0 0 0 0 0 0</pose>
     <link name='base_link'>
       <velocity_decay>
         <linear>0.0</linear>
@@ -178,7 +178,7 @@
         </inertia>
       </inertial>
       <sensor name="imu_sensor" type="imu">
-        <pose>0 0 0 3.141593 0 0</pose>
+        <pose degrees="true">0 0 0 180 0 0</pose>
         <always_on>1</always_on>
         <update_rate>1000.0</update_rate>
       </sensor>
@@ -200,9 +200,9 @@
       </axis>
     </joint>
     <link name='rotor_0'>
-      <pose>0.13 -0.22 0.023 0 -0 0</pose>
+      <pose>0.13 -0.22 0.023 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -214,7 +214,7 @@
         </inertia>
       </inertial>
       <collision name='rotor_0_collision'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
             <length>0.005</length>
@@ -231,7 +231,7 @@
         </surface>
       </collision>
       <visual name='rotor_0_visual'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -274,9 +274,9 @@
       </physics>
     </joint>
     <link name='rotor_1'>
-      <pose>-0.13 0.2 0.023 0 -0 0</pose>
+      <pose>-0.13 0.2 0.023 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -288,7 +288,7 @@
         </inertia>
       </inertial>
       <collision name='rotor_1_collision'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
             <length>0.005</length>
@@ -305,7 +305,7 @@
         </surface>
       </collision>
       <visual name='rotor_1_visual'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -348,9 +348,9 @@
       </physics>
     </joint>
     <link name='rotor_2'>
-      <pose>0.13 0.22 0.023 0 -0 0</pose>
+      <pose>0.13 0.22 0.023 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -362,7 +362,7 @@
         </inertia>
       </inertial>
       <collision name='rotor_2_collision'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
             <length>0.005</length>
@@ -379,7 +379,7 @@
         </surface>
       </collision>
       <visual name='rotor_2_visual'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -422,9 +422,9 @@
       </physics>
     </joint>
     <link name='rotor_3'>
-      <pose>-0.13 -0.2 0.023 0 -0 0</pose>
+      <pose>-0.13 -0.2 0.023 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -436,7 +436,7 @@
         </inertia>
       </inertial>
       <collision name='rotor_3_collision'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
             <length>0.005</length>
@@ -453,7 +453,7 @@
         </surface>
       </collision>
       <visual name='rotor_3_visual'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/models/parachute_small/model.sdf b/models/parachute_small/model.sdf
index 115ba95..195f9d5 100644
--- a/models/parachute_small/model.sdf
+++ b/models/parachute_small/model.sdf
@@ -47,8 +47,8 @@
         </material>
       </visual>
     </link>
-    <plugin filename="libgz-sim-lift-drag-system.so"
-        name="gz::sim::systems::LiftDrag">
+    <plugin name="gz::sim::systems::LiftDrag"
+        filename="gz-sim-lift-drag-system">
       <a0>0</a0>
       <cla>0</cla>
       <cda>1.75</cda>  <!-- Such that Cd = 1.75 at alpha = 90deg (= upright parachute) -->
diff --git a/models/runway/model.sdf b/models/runway/model.sdf
index 86752b4..a7b7e65 100755
--- a/models/runway/model.sdf
+++ b/models/runway/model.sdf
@@ -11,7 +11,7 @@
         </geometry>
       </collision>
       <visual name="runway">
-        <pose>0 0 0 0 0 3.141592653589793</pose>
+        <pose degrees="true">0 0 0 0 0 90</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <plane>
diff --git a/models/zephyr/model.sdf b/models/zephyr/model.sdf
index c0ca4eb..365dcb4 100644
--- a/models/zephyr/model.sdf
+++ b/models/zephyr/model.sdf
@@ -96,7 +96,7 @@
 
     </link>
     <link name="propeller">
-      <pose>0 0.07 0.008 0 1.5707 0</pose>
+      <pose degrees="true">0 0.07 0.008 0 90 0</pose>
       <inertial>
         <mass>.05</mass>
         <inertia>
@@ -260,7 +260,7 @@
         </inertia>
       </inertial>
       <sensor name="imu_sensor" type="imu">
-        <pose>0 0 0 3.141593 0 -1.5707963</pose>
+        <pose degrees="true">0 0 0 180 0 -90</pose>
         <always_on>1</always_on>
         <update_rate>1000.0</update_rate>
       </sensor>
diff --git a/models/zephyr_with_ardupilot/model.sdf b/models/zephyr_with_ardupilot/model.sdf
index 9968e72..08ba7b1 100644
--- a/models/zephyr_with_ardupilot/model.sdf
+++ b/models/zephyr_with_ardupilot/model.sdf
@@ -19,7 +19,7 @@
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>0 -0.1 0</cp>
       <area>0.50</area>
       <air_density>1.2041</air_density>
@@ -37,7 +37,7 @@
       <alpha_stall>0.6391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>0.7 0.20 0</cp>
       <area>0.10</area>
       <air_density>1.2041</air_density>
@@ -57,7 +57,7 @@
       <alpha_stall>0.6391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>-0.7 0.20 0</cp>
       <area>0.10</area>
       <air_density>1.2041</air_density>
@@ -77,7 +77,7 @@
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>-0.76 0.30 0.025</cp>
       <area>0.12</area>
       <air_density>1.2041</air_density>
@@ -95,7 +95,7 @@
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>0.76 0.30 0.025</cp>
       <area>0.12</area>
       <air_density>1.2041</air_density>
@@ -170,8 +170,8 @@
 
         Zephyr is oriented x-left, y-back, z-up
       -->
-      <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 -1.5707963</modelXYZToAirplaneXForwardZDown>
-      <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
+      <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 -90</modelXYZToAirplaneXForwardZDown>
+      <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
 
       <!-- Sensors -->
       <imuName>zephyr::imu_link::imu_sensor</imuName>
diff --git a/models/zephyr_with_parachute/model.sdf b/models/zephyr_with_parachute/model.sdf
index fcd2bb7..4a5be9d 100644
--- a/models/zephyr_with_parachute/model.sdf
+++ b/models/zephyr_with_parachute/model.sdf
@@ -11,7 +11,7 @@
       must be fixed.
     -->
     <link name="parachute_attachment_link">
-      <pose>0 0 0.1 0 0 -1.5707963</pose>
+      <pose degrees="true">0 0 0.1 0 0 -90</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
@@ -51,7 +51,7 @@
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>0 -0.1 0</cp>
       <area>0.50</area>
       <air_density>1.2041</air_density>
@@ -69,7 +69,7 @@
       <alpha_stall>0.6391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>0.7 0.20 0</cp>
       <area>0.10</area>
       <air_density>1.2041</air_density>
@@ -89,7 +89,7 @@
       <alpha_stall>0.6391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>-0.7 0.20 0</cp>
       <area>0.10</area>
       <air_density>1.2041</air_density>
@@ -109,7 +109,7 @@
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>-0.76 0.30 0.025</cp>
       <area>0.12</area>
       <air_density>1.2041</air_density>
@@ -127,7 +127,7 @@
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
+      <cma_stall>0.0</cma_stall>
       <cp>0.76 0.30 0.025</cp>
       <area>0.12</area>
       <air_density>1.2041</air_density>
@@ -202,8 +202,8 @@
 
         Zephyr is oriented x-left, y-back, z-up
       -->
-      <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 -1.5707963</modelXYZToAirplaneXForwardZDown>
-      <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
+      <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 -90</modelXYZToAirplaneXForwardZDown>
+      <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
 
       <!-- Sensors -->
       <imuName>zephyr::imu_link::imu_sensor</imuName>
diff --git a/tests/worlds/test_anemometer.sdf b/tests/worlds/test_anemometer.sdf
index 61d0551..584cb43 100644
--- a/tests/worlds/test_anemometer.sdf
+++ b/tests/worlds/test_anemometer.sdf
@@ -10,7 +10,7 @@
 
   SITL
 
-  sim_vehicle.py -D -v Rover -f JSON -/-console -/-map
+  sim_vehicle.py -D -v Rover -/-model JSON -/-console -/-map
 
   MANUAL> param set WNDVN_TYPE 11
   MANUAL> param set WNDVN_SPEED_TYPE 11
@@ -39,11 +39,14 @@
     <plugin filename="gz-sim-user-commands-system"
         name="gz::sim::systems::UserCommands">
     </plugin>
+    <plugin filename="asv_sim2-anemometer-system"
+      name="gz::sim::systems::Anemometer">
+    </plugin>
     <plugin filename="gz-sim-imu-system"
         name="gz::sim::systems::Imu">
     </plugin>
-    <plugin filename="asv_sim2-anemometer-system"
-      name="gz::sim::systems::Anemometer">
+    <plugin filename="gz-sim-navsat-system"
+      name="gz::sim::systems::NavSat">
     </plugin>
 
     <scene>
@@ -53,9 +56,9 @@
     </scene>
 
     <spherical_coordinates>
-      <latitude_deg>51.56991349023042</latitude_deg>
-      <longitude_deg>-4.033693921107272</longitude_deg>
-      <elevation>10.0</elevation>
+      <latitude_deg>-35.363262</latitude_deg>
+      <longitude_deg>149.165237</longitude_deg>
+      <elevation>584</elevation>
       <heading_deg>0</heading_deg>
       <surface_model>EARTH_WGS84</surface_model>
     </spherical_coordinates>
@@ -85,10 +88,10 @@
             </box>
           </geometry>
           <material>
-            <ambient>1 0 0 1</ambient>
-            <diffuse>1 0 0 1</diffuse>
-            <emissive>1 0 0 1</emissive>
-            <specular>0.5 0.5 0.5 1</specular>
+            <ambient>1 0 0 0.8</ambient>
+            <diffuse>1 0 0 0.8</diffuse>
+            <emissive>1 0 0 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
           </material>
         </visual>
         <visual name="g">
@@ -100,10 +103,10 @@
             </box>
           </geometry>
           <material>
-            <ambient>0 1 0 1</ambient>
-            <diffuse>0 1 0 1</diffuse>
-            <emissive>0 1 0 1</emissive>
-            <specular>0.5 0.5 0.5 1</specular>
+            <ambient>0 1 0 0.8</ambient>
+            <diffuse>0 1 0 0.8</diffuse>
+            <emissive>0 1 0 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
           </material>
         </visual>
         <visual name="b">
@@ -115,12 +118,16 @@
             </box>
           </geometry>
           <material>
-            <ambient>0 0 1 1</ambient>
-            <diffuse>0 0 1 1</diffuse>
-            <emissive>0 0 1 1</emissive>
-            <specular>0.5 0.5 0.5 1</specular>
+            <ambient>0 0 1 0.8</ambient>
+            <diffuse>0 0 1 0.8</diffuse>
+            <emissive>0 0 1 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
           </material>
         </visual>
+        <sensor name="navsat_sensor" type="navsat">
+          <always_on>1</always_on>
+          <update_rate>1</update_rate>
+        </sensor>
       </link>
     </model>
 
@@ -152,7 +159,7 @@
     </model>
 
     <model name="anemometer">
-      <pose>0 0 0.5 0 0 1.57079632</pose>
+      <pose degrees="true">0 0 0.5 0 0 90</pose>
       <link name="base_link">
         <inertial>
           <mass>10</mass>
@@ -213,7 +220,7 @@
           </inertia>
         </inertial>
         <sensor name="imu_sensor" type="imu">
-          <pose>0 0 0 3.141593 0 0</pose>
+          <pose degrees="true">0 0 0 180 0 0</pose>
           <always_on>1</always_on>
           <update_rate>1000.0</update_rate>
         </sensor>
@@ -282,8 +289,8 @@
         <fdm_port_in>9002</fdm_port_in>
         <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
         <lock_step>1</lock_step>
-        <gazeboXYZToNED>0 0 0 3.141593 0 1.57079632</gazeboXYZToNED>
-        <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
+        <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
+        <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
         <imuName>imu_link::imu_sensor</imuName>
         <anemometer>anemometer_link::anemometer</anemometer>
       </plugin>
diff --git a/tests/worlds/test_gimbal.sdf b/tests/worlds/test_gimbal.sdf
index 73960da..9449df2 100755
--- a/tests/worlds/test_gimbal.sdf
+++ b/tests/worlds/test_gimbal.sdf
@@ -46,16 +46,17 @@
 
     <include>
       <uri>model://runway</uri>
+      <pose degrees="true">-29 545 0 0 0 363</pose>
     </include>
 
     <!-- gimbal  -->
     <!-- <include>
       <uri>model://gimbal_small_2d</uri>
       <name>gimbal</name>
-      <pose>0 0 0.11 -1.57 0 1.57</pose>
+      <pose degrees="true">0 0 0.11 -90 0 90</pose>
       <plugin
-        filename="gz-sim-joint-position-controller2-system"
-        name="gz::sim::systems::JointPositionController2">
+        filename="gz-sim-joint-position-controller-system"
+        name="gz::sim::systems::JointPositionController">
         <joint_name>arm_joint</joint_name>
         <topic>arm_cmd</topic>
         <p_gain>2</p_gain>
@@ -67,8 +68,8 @@
         <cmd_min>-1000</cmd_min>
       </plugin>
       <plugin
-        filename="gz-sim-joint-position-controller2-system"
-        name="gz::sim::systems::JointPositionController2">
+        filename="gz-sim-joint-position-controller-system"
+        name="gz::sim::systems::JointPositionController">
         <joint_name>tilt_joint</joint_name>
         <topic>tilt_cmd</topic>
         <p_gain>2</p_gain>
@@ -83,7 +84,7 @@
 
     <!-- nested -->
     <model name="model2">
-      <pose>2 0 0.5 0 0 0</pose>
+      <pose degrees="true">0 0 0.5 0 0 90</pose>
       <link name="base_link">
         <inertial>
           <mass>0.25</mass>
@@ -120,7 +121,7 @@
       <include>
         <uri>model://gimbal_small_2d</uri>
         <name>gimbal</name>
-        <pose>0 0 0.61 -1.57 0 1.57</pose>
+        <pose degrees="true">0 0 0.61 -90 0 -90</pose>
       </include>
       <joint name="gimbal_joint" type="revolute">
         <parent>base_link</parent>
@@ -141,17 +142,17 @@
         name="gz::sim::systems::JointStatePublisher">
       </plugin>
       <plugin
-        filename="gz-sim-joint-position-controller2-system"
-        name="gz::sim::systems::JointPositionController2">
-        <joint_name>gimbal::arm_joint</joint_name>
-        <topic>arm_cmd</topic>
+        filename="gz-sim-joint-position-controller-system"
+        name="gz::sim::systems::JointPositionController">
+        <joint_name>gimbal::roll_joint</joint_name>
+        <topic>cmd_roll</topic>
         <p_gain>2</p_gain>
       </plugin>
       <plugin
-        filename="gz-sim-joint-position-controller2-system"
-        name="gz::sim::systems::JointPositionController2">
+        filename="gz-sim-joint-position-controller-system"
+        name="gz::sim::systems::JointPositionController">
         <joint_name>gimbal::tilt_joint</joint_name>
-        <topic>tilt_cmd</topic>
+        <topic>cmd_pitch</topic>
         <p_gain>2</p_gain>
       </plugin>
 
diff --git a/tests/worlds/test_parachute.sdf b/tests/worlds/test_parachute.sdf
index 38cbbe6..930aaa1 100755
--- a/tests/worlds/test_parachute.sdf
+++ b/tests/worlds/test_parachute.sdf
@@ -55,10 +55,11 @@
 
     <include>
       <uri>model://runway</uri>
+      <pose degrees="true">-29 545 0 0 0 363</pose>
     </include>
 
     <model name="payload">
-      <pose>0 0 50 0 0 0</pose>
+      <pose degrees="true">0 0 50 0 0 90</pose>
       <link name="base_link">
         <inertial>
           <mass>0.25</mass>
@@ -129,7 +130,7 @@
         <parent>base_link</parent>
       </joint>
 
-      <plugin filename="libParachutePlugin.so" name="ParachutePlugin">
+      <plugin filename="ParachutePlugin" name="ParachutePlugin">
         <parent_link>attachment_link</parent_link>
         <child_model>parachute_small</child_model>
         <child_link>chute</child_link>
diff --git a/worlds/iris_runway.sdf b/worlds/iris_runway.sdf
index aa8751d..8f87d99 100755
--- a/worlds/iris_runway.sdf
+++ b/worlds/iris_runway.sdf
@@ -23,6 +23,9 @@
     <plugin filename="gz-sim-imu-system"
       name="gz::sim::systems::Imu">
     </plugin>
+    <plugin filename="gz-sim-navsat-system"
+      name="gz::sim::systems::NavSat">
+    </plugin>
 
     <scene>
       <ambient>1.0 1.0 1.0</ambient>
@@ -30,6 +33,14 @@
       <sky></sky>
     </scene>
 
+    <spherical_coordinates>
+      <latitude_deg>-35.363262</latitude_deg>
+      <longitude_deg>149.165237</longitude_deg>
+      <elevation>584</elevation>
+      <heading_deg>0</heading_deg>
+      <surface_model>EARTH_WGS84</surface_model>
+    </spherical_coordinates>
+
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
@@ -44,12 +55,69 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
+    <model name="axes">
+      <static>1</static>
+      <link name="link">
+        <visual name="r">
+          <cast_shadows>0</cast_shadows>
+          <pose>5 0 0.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>10 0.01 0.01</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 0.8</ambient>
+            <diffuse>1 0 0 0.8</diffuse>
+            <emissive>1 0 0 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
+          </material>
+        </visual>
+        <visual name="g">
+          <cast_shadows>0</cast_shadows>
+          <pose>0 5 0.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.01 10 0.01</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0 1 0 0.8</ambient>
+            <diffuse>0 1 0 0.8</diffuse>
+            <emissive>0 1 0 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
+          </material>
+        </visual>
+        <visual name="b">
+          <cast_shadows>0</cast_shadows>
+          <pose>0 0 5.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.01 0.01 10</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0 0 1 0.8</ambient>
+            <diffuse>0 0 1 0.8</diffuse>
+            <emissive>0 0 1 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
+          </material>
+        </visual>
+        <sensor name="navsat_sensor" type="navsat">
+          <always_on>1</always_on>
+          <update_rate>1</update_rate>
+        </sensor>
+      </link>
+    </model>
+    
     <include>
       <uri>model://runway</uri>
+      <pose degrees="true">-29 545 0 0 0 363</pose>
     </include>
 
     <include>
       <uri>model://iris_with_ardupilot</uri>
+      <pose degrees="true">0 0 0.195 0 0 90</pose>
     </include>
 
   </world>
diff --git a/worlds/iris_warehouse.sdf b/worlds/iris_warehouse.sdf
index cd3aead..80010ac 100644
--- a/worlds/iris_warehouse.sdf
+++ b/worlds/iris_warehouse.sdf
@@ -267,44 +267,44 @@
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/fog emitter</uri>
     </include>
 
-    <!-- missing table (see below)
-    <include>
+    <!-- missing table (see below) -->
+    <!-- <include>
         <pose>-9.0 -1.8 1.038 0 0 0</pose>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Panda with Ignition position controller model</uri>
     </include> -->
 
-    <!-- model has incorrect fuel server details
-    <include>
-        <pose>-9.0 -2.4 0 0 0 1.57</pose>
+    <!-- model has incorrect fuel server details -->
+    <!-- <include>
+        <pose degrees="true">-9.0 -2.4 0 0 0 90</pose>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Reflective table</uri>
     </include> -->
 
-    <!-- model has incorrect fuel server details
-    <include>
-        <pose>-13.2 -6.0 0 0 0 1.57</pose>
+    <!-- model has incorrect fuel server details -->
+    <!-- <include>
+        <pose degrees="true">-13.2 -6.0 0 0 0 90</pose>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Rescue Randy Sitting</uri>
     </include> -->
 
     <include>
-        <pose>-9.0 -6.21 5.0 0 0.9 -3.14</pose>
+        <pose degrees="true">-9.0 -6.21 5.0 0 51.5 -180</pose>
         <static>true</static>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/16-Bit Thermal Camera</uri>
     </include>
 
     <include>
-        <pose>-9.0 -5.95 5.0 0 0.9 -3.14</pose>
+        <pose degrees="true">-9.0 -5.95 5.0 0 51.5 -180</pose>
         <static>true</static>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/8-Bit Thermal Camera</uri>
     </include>
 
     <include>
-        <pose>-9.075 -6.15 4.995 0 0.9 -3.14</pose>
+        <pose degrees="true">-9.075 -6.15 4.995 0 51.5 -180</pose>
         <static>true</static>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Camera</uri>
     </include>
 
-    <include>
-        <pose>-9.04 -6.04 4.97 0 0.9 -3.14</pose>
+    <include degrees="true">
+        <pose>-9.04 -6.04 4.97 0 51.5 -180</pose>
         <static>true</static>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depth Camera</uri>
     </include>
diff --git a/worlds/zephyr_parachute.sdf b/worlds/zephyr_parachute.sdf
index 1bf6e69..75fc1dd 100755
--- a/worlds/zephyr_parachute.sdf
+++ b/worlds/zephyr_parachute.sdf
@@ -78,7 +78,7 @@
   SITL
   ====
 
-  sim_vehicle.py -D -v ArduPlane -f gazebo-zephyr \-\-model JSON \-\-map \-\-console
+  sim_vehicle.py -D -v ArduPlane -f gazebo-zephyr -\-model JSON -\-map -\-console
 
   MAVProxy
   ========
@@ -110,6 +110,9 @@
     <plugin filename="gz-sim-imu-system"
       name="gz::sim::systems::Imu">
     </plugin>
+    <plugin filename="gz-sim-navsat-system"
+      name="gz::sim::systems::NavSat">
+    </plugin>
 
     <scene>
       <ambient>1.0 1.0 1.0</ambient>
@@ -117,6 +120,22 @@
       <sky></sky>
     </scene>
 
+    <spherical_coordinates>
+      <latitude_deg>-35.363262</latitude_deg>
+      <longitude_deg>149.165237</longitude_deg>
+      <elevation>584</elevation>
+      <heading_deg>0</heading_deg>
+      <surface_model>EARTH_WGS84</surface_model>
+    </spherical_coordinates>
+
+    <spherical_coordinates>
+      <latitude_deg>-35.363262</latitude_deg>
+      <longitude_deg>149.165237</longitude_deg>
+      <elevation>584</elevation>
+      <heading_deg>0</heading_deg>
+      <surface_model>EARTH_WGS84</surface_model>
+    </spherical_coordinates>
+
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
@@ -139,7 +158,7 @@
       <pose>0 0 0.422 -1.5707963 0 1.5707963</pose>
       <uri>model://zephyr_with_parachute</uri>
 
-      <plugin filename="libParachutePlugin.so" name="ParachutePlugin">
+      <plugin name="ParachutePlugin" filename="ParachutePlugin">
         <parent_link>parachute_attachment_link</parent_link>
         <child_model>parachute_small</child_model>
         <child_link>chute</child_link>
diff --git a/worlds/zephyr_runway.sdf b/worlds/zephyr_runway.sdf
index 80af8e4..1157a59 100755
--- a/worlds/zephyr_runway.sdf
+++ b/worlds/zephyr_runway.sdf
@@ -18,6 +18,9 @@
     <plugin filename="gz-sim-imu-system"
       name="gz::sim::systems::Imu">
     </plugin>
+    <plugin filename="gz-sim-navsat-system"
+      name="gz::sim::systems::NavSat">
+    </plugin>
 
     <scene>
       <ambient>1.0 1.0 1.0</ambient>
@@ -25,6 +28,14 @@
       <sky></sky>
     </scene>
 
+    <spherical_coordinates>
+      <latitude_deg>-35.363262</latitude_deg>
+      <longitude_deg>149.165237</longitude_deg>
+      <elevation>584</elevation>
+      <heading_deg>0</heading_deg>
+      <surface_model>EARTH_WGS84</surface_model>
+    </spherical_coordinates>
+
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
@@ -39,13 +50,69 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
+    <model name="axes">
+      <static>1</static>
+      <link name="link">
+        <visual name="r">
+          <cast_shadows>0</cast_shadows>
+          <pose>5 0 0.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>10 0.01 0.01</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 0.8</ambient>
+            <diffuse>1 0 0 0.8</diffuse>
+            <emissive>1 0 0 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
+          </material>
+        </visual>
+        <visual name="g">
+          <cast_shadows>0</cast_shadows>
+          <pose>0 5 0.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.01 10 0.01</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0 1 0 0.8</ambient>
+            <diffuse>0 1 0 0.8</diffuse>
+            <emissive>0 1 0 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
+          </material>
+        </visual>
+        <visual name="b">
+          <cast_shadows>0</cast_shadows>
+          <pose>0 0 5.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.01 0.01 10</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0 0 1 0.8</ambient>
+            <diffuse>0 0 1 0.8</diffuse>
+            <emissive>0 0 1 0.8</emissive>
+            <specular>0.5 0.5 0.5 0.8</specular>
+          </material>
+        </visual>
+        <sensor name="navsat_sensor" type="navsat">
+          <always_on>1</always_on>
+          <update_rate>1</update_rate>
+        </sensor>
+      </link>
+    </model>
+
     <include>
       <uri>model://runway</uri>
+      <pose degrees="true">-29 545 0 0 0 363</pose>
     </include>
 
     <include>
-      <pose>0 0 0.422 -1.5707963 0 1.5707963</pose>
       <uri>model://zephyr_with_ardupilot</uri>
+      <pose degrees="true">0 0 0.422 -90 0 180</pose>
     </include>
 
   </world>