McMillan Airfield GPS origin is not correct about gazebo_models HOT 7 OPEN

Hi , unfortunately i don't have any reply for your question , in the other hand i want to add person_walking i clone it but i don't know how to launch it in gazebo , actually i need the command to launch it , i would be grateful if you could help me

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@issouker97 I believe your issue is not related to your issue. Please don't hijack the topic of this thread

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@ahcorde Could you shed any light on this issue?

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The tags that you mentioned are being readed in the Gazebo code ( in the world class ).

In the plugin you need to setup some env vars:

 // Use environment variables if set for home position.
  const char *env_lat = std::getenv("PX4_HOME_LAT");
  const char *env_lon = std::getenv("PX4_HOME_LON");
  const char *env_alt = std::getenv("PX4_HOME_ALT");

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@ahcorde Without the environment variables, it reads from the worldfile with https://github.com/PX4/sitl_gazebo/blob/master/src/gazebo_gps_plugin.cpp#L105, However even if I change the spherical coordinates in https://github.com/PX4/sitl_gazebo/blob/master/worlds/mcmillan_airfield.world#L20 the returned value doesn't change

Therefore, the problem is that the return value from

  gazebo::common::SphericalCoordinatesPtr spherical_coords = world->SphericalCoords();

Doesn't seem to reflect the tag properly from the world file.

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@ahcorde I can confirm that when reading the spherical coordinates from the world object, it returns the origin set from the mcmillan_airfield.tif file and not the one that is defined in the .world file

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@ahcorde It seems like gazebo overrides the spherical coordinate defined in the world file and uses the origin of the DEM if I understand correctly the following.

If this is the default behavior, this would explain the issues that I have been seeing.

https://github.com/osrf/gazebo/blob/063d7386ed5499c2883de48e19ff5fb9dec01dff/gazebo/physics/HeightmapShape.cc#L109-L131

    // Modify the reference geotedic latitude/longitude.
    // A GPS sensor will use the real georeferenced coordinates of the terrain.
    common::SphericalCoordinatesPtr sphericalCoordinates;
    sphericalCoordinates = this->world->SphericalCoords();

    if (sphericalCoordinates)
    {
      ignition::math::Angle latitude, longitude;
      double elevation;

      this->dem.GetGeoReferenceOrigin(latitude, longitude);
      elevation = this->dem.GetElevation(0.0, 0.0);

      sphericalCoordinates->SetLatitudeReference(latitude);
      sphericalCoordinates->SetLongitudeReference(longitude);
      sphericalCoordinates->SetElevationReference(elevation);
      sphericalCoordinates.reset();
    }
    else
      gzerr << "Unable to get a valid SphericalCoordinates pointer\n";

    return 0;
  }

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