Models: fix world orientation

[srmainwaring]

This PR reviews and fixes the orientation of models and worlds to ensure compliance with the conventions used by ROS and ArduPilot.

• https://discuss.ardupilot.org/t/compass-settings-compasses-inconsistent-error/110592

Edit <cma> fix below moved to #73

There is also a fix for planes on Harmonic where a change in behaviour of the LiftDrag plugin requires the moment coefficient <cma> to be set to zero in order to disable the adjustment (it was previously ignored).

• Lift Drag Bug Fix gazebosim/gz-sim#2189

Details

• Use degrees rather than radians in <pose> where this simplifies or clarifies the rotation.
• Replace -0 with 0. These arise where the SDF model had been originally generated from URDF.

Checks

Models

• gimbal_small_1d
• gimbal_small_2d
• iris_with_ardupilot
• iris_with_gimbal
• iris_with_standoffs
• parachute_small
• runway
• zephyr
• zephyr_with_ardupilot
• zephyr_with_parachute

Worlds

• iris_runway
• iris_warehouse
• zephyr_parachute
• zephyr_runway

Tests

• test_anemometer
• test_gimbal
• test_nested_model
• test_parachute

[Ryanf55]

ryan@B650-970:~/Dev/ros2_ws/src/ardupilot_gazebo$ gz sim -v4 -r zephyr_runway.sdf
[Msg] Gazebo Sim GUI    v8.0.0
[Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
[Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [zephyr_runway.sdf] from the GUI.
[Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[Msg] Gazebo Sim Server v8.0.0
[Msg] Loading SDF world file[/home/ryan/Dev/ros2_ws/src/ardupilot_gazebo/worlds/zephyr_runway.sdf].
[Dbg] [Application.cc:101] Initializing application.
[Dbg] [Application.cc:175] Qt using OpenGL graphics interface
[GUI] [Dbg] [Application.cc:662] Create main window
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/zephyr_runway/create]
[Msg] Remove service on [/world/zephyr_runway/remove]
[Msg] Pose service on [/world/zephyr_runway/set_pose]
[Msg] Pose service on [/world/zephyr_runway/set_pose_vector]
[Msg] Light configuration service on [/world/zephyr_runway/light_config]
[Msg] Physics service on [/world/zephyr_runway/set_physics]
[Msg] SphericalCoordinates service on [/world/zephyr_runway/set_spherical_coordinates]
[Msg] Enable collision service on [/world/zephyr_runway/enable_collision]
[Msg] Disable collision service on [/world/zephyr_runway/disable_collision]
[Msg] Material service on [/world/zephyr_runway/visual_config]
[Msg] Material service on [/world/zephyr_runway/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Imu] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::NavSat] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::JointStatePublisher] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/zephyr_with_ardupilot/joint/zephyr::propeller_joint/cmd_force]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/zephyr_with_ardupilot/joint/zephyr::flap_left_joint/cmd_force]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/zephyr_with_ardupilot/joint/zephyr::flap_right_joint/cmd_force]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[libprotobuf ERROR google/protobuf/descriptor_database.cc:175] Symbol name "gz.sim.private_msgs.PerformerAffinity" conflicts with the existing symbol "gz.sim.private_msgs.PerformerAffinity".
[libprotobuf FATAL google/protobuf/descriptor.cc:1382] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): 
terminate called after throwing an instance of 'google::protobuf::FatalException'
  what():  CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): 
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d14c00, in gz::sim::v8::SdfEntityCreator::CreateEntities(sdf::v14::Model const*)
#30   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3cecf55, in 
#29   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d4d268, in gz::sim::v8::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v14::Plugin, std::allocator<sdf::v14::Plugin> > const&)
#28   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d59d33, in gz::sim::v8::SystemManager::LoadPlugin(unsigned long, sdf::v14::Plugin const&)
#27   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d594e9, in gz::sim::v8::SystemLoader::LoadPlugin(sdf::v14::Plugin const&)
#26   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d584a8, in 
#25   Object "/lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2", at 0x7f48c89f556f, in gz::plugin::Loader::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
#24   Object "/lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2", at 0x7f48c89f44dd, in gz::plugin::Loader::Implementation::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
#23   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a906c7, in dlopen
#22   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a9012d, in 
#21   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8b74972, in _dl_catch_error
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8b748a7, in _dl_catch_exception
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a9063b, in 
#18   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f48c92f134d, in 
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8b748a7, in _dl_catch_exception
#16   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f48c92f0ff5, in 
#15   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8b74904, in _dl_catch_exception
#14   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f48c92e9567, in 
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f48c92e947d, in 
#12   Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f48808b3d08, in 
#11   Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7f48c3181951, in google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)
#10   Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7f48c3181966, in google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)
#9    Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7f48c3092c35, in 
#8    Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7f48c8c782dc, in _Unwind_Resume
#7    Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7f48c8c77883, in 
#6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f48c4cad958, in __gxx_personality_v0
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f48c4cad1e8, in 
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f48c4cae20b, in 
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f48c4ca2b9d, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a287f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a42475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a969fc, in pthread_kill
Aborted (Signal sent by tkill() 59000 1000)
[GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
[GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
[GUI] [Dbg] [Application.cc:242] Terminating application.

Runtime crash when loading. This happens on the old version (before this PR).

[srmainwaring]

[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[libprotobuf ERROR google/protobuf/descriptor_database.cc:175] Symbol name "gz.sim.private_msgs.PerformerAffinity" conflicts with the existing symbol "gz.sim.private_msgs.PerformerAffinity".
[libprotobuf FATAL google/protobuf/descriptor.cc:1382] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
terminate called after throwing an instance of 'google::protobuf::FatalException'
what(): CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):

That looks like a possible version conflict between Gazebo Garden and Harmonic in your environment, or possibly the build of the ArduPilot plugin (can try disabling the plugin in the model to verify). The gz-msg and gz-transport libraries may have different protbuf dependencies in Gazebo and Harmonic.

[Ryanf55]

Tested a few worlds like warehouse, they work well.