From 53320714e69823e0f460826a0d3ad1062e65e292 Mon Sep 17 00:00:00 2001
From: Frederik Markus <80588263+frede791@users.noreply.github.com>
Date: Tue, 6 Feb 2024 17:37:20 +0100
Subject: [PATCH] add navsat plugin to worlds and navsat sensor to models (#26)

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
---
 models/advanced_plane/model.sdf |    4 +
 models/omnicopter/model.sdf     |    4 +
 models/px4vision/model.sdf      |    4 +
 models/r1_rover/model.sdf       | 1000 ++++++++++++++++---------------
 models/rc_cessna/model.sdf      |    4 +
 models/standard_vtol/model.sdf  |    4 +
 models/x500_base/model.sdf      |    4 +
 worlds/baylands.sdf             |   35 +-
 worlds/default.sdf              |    8 +
 worlds/windy.sdf                |   10 +-
 10 files changed, 565 insertions(+), 512 deletions(-)

diff --git a/models/advanced_plane/model.sdf b/models/advanced_plane/model.sdf
index 0714e10..04d646f 100644
--- a/models/advanced_plane/model.sdf
+++ b/models/advanced_plane/model.sdf
@@ -67,6 +67,10 @@
           </pressure>
         </air_pressure>
       </sensor>
+      <sensor name="navsat_sensor" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
     </link>
     <link name='rotor_puller'>
       <pose>0.3 0 0.0 0 1.57 0</pose>
diff --git a/models/omnicopter/model.sdf b/models/omnicopter/model.sdf
index b245d70..180d9fa 100644
--- a/models/omnicopter/model.sdf
+++ b/models/omnicopter/model.sdf
@@ -69,6 +69,10 @@
         <always_on>1</always_on>
         <update_rate>250</update_rate>
       </sensor>
+      <sensor name="navsat_sensor" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
     </link>
     <link name='rotor_0'>
       <pose>0.1 0.1 0.1 -0.350879 -0.908651  0.172719</pose>
diff --git a/models/px4vision/model.sdf b/models/px4vision/model.sdf
index 6f6904e..462ea8a 100644
--- a/models/px4vision/model.sdf
+++ b/models/px4vision/model.sdf
@@ -66,6 +66,10 @@
           </pressure>
         </air_pressure>
       </sensor>
+      <sensor name="navsat_sensor" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
       <sensor name="imu_sensor" type="imu">
         <always_on>1</always_on>
         <update_rate>250</update_rate>
diff --git a/models/r1_rover/model.sdf b/models/r1_rover/model.sdf
index d53f9f4..a8204ff 100644
--- a/models/r1_rover/model.sdf
+++ b/models/r1_rover/model.sdf
@@ -1,507 +1,511 @@
 <sdf version='1.6'>
 	<model name='r1_rover'>
-	  <link name='base_link'>
-	    <pose>0 0 0 0 -0 0</pose>
-	    <inertial>
-	      <pose>0 0 0 0 -0 0</pose>
-	      <mass>20.0</mass>
-	      <inertia>
-		<ixx>0.37083</ixx>
-		<ixy>0.0</ixy>
-		<ixz>0.0</ixz>
-		<iyy>0.37083</iyy>
-		<iyz>0.0</iyz>
-		<izz>0.53333</izz>
-	      </inertia>
-	    </inertial>
-	    <collision name='odom_fixed_joint_lump__base_link_collision'>
-	      <pose>0 0 0.15 0 -0 0</pose>
-	      <geometry>
-		<box>
-		  <size>0.4 0.4 0.25</size>
-		</box>
-	      </geometry>
-	      <surface>
-		<contact>
-		  <ode/>
-		</contact>
-		<friction>
-		  <ode/>
-		</friction>
-	      </surface>
-	    </collision>
-	    <visual name='odom_fixed_joint_lump__base_link_visual'>
-	      <pose>0 0 0 0 -0 0</pose>
-	      <geometry>
-		<mesh>
-		  <scale>1 1 1</scale>
-		  <uri>model://r1_rover/meshes/chassis_link.STL</uri>
-		</mesh>
-	      </geometry>
-	      <material>
-		<diffuse>1.0 1.0 1.0</diffuse>
-		<specular>1.0 1.0 1.0</specular>
-	      </material>
-	    </visual>
-	    <visual name='odom_fixed_joint_lump__top_link_visual_1'>
-	      <pose>0 0 0.114486 0 -0 0</pose>
-	      <geometry>
-		<mesh>
-		  <scale>1 1 1</scale>
-		  <uri>model://r1_rover/meshes/top_link.STL</uri>
-		</mesh>
-	      </geometry>
-	      <material>
-		<diffuse>1.0 1.0 1.0</diffuse>
-		<specular>1.0 1.0 1.0</specular>
-	      </material>
-	    </visual>
-	    <visual name='odom_fixed_joint_lump__battery_link_visual_2'>
-	      <pose>-0.09302 -0.000128 0.114486 0 -0 0</pose>
-	      <geometry>
-		<mesh>
-		  <scale>1 1 1</scale>
-		  <uri>model://r1_rover/meshes/battery_link.STL</uri>
-		</mesh>
-	      </geometry>
-	      <material>
-		<diffuse>0.0 0.0 0.0</diffuse>
-		<specular>0.5 0.5 0.5</specular>
-	      </material>
-	    </visual>
-	    <visual name='odom_fixed_joint_lump__housing_link_visual_3'>
-	      <pose>0.03473 0 0.114486 0 -0 0</pose>
-	      <geometry>
-		<mesh>
-		  <scale>1 1 1</scale>
-		  <uri>model://r1_rover/meshes/housing_link.STL</uri>
-		</mesh>
-	      </geometry>
-	      <material>
-		<diffuse>0.0 0.0 0.0</diffuse>
-		<specular>0.5 0.5 0.5</specular>
-	      </material>
-	    </visual>
-	    <visual name='odom_fixed_joint_lump__l_antenna_link_visual_4'>
-	      <pose>-0.1565 0.0762 0.114486 0 -0 0</pose>
-	      <geometry>
-		<mesh>
-		  <scale>1 1 1</scale>
-		  <uri>model://r1_rover/meshes/antenna_link.STL</uri>
-		</mesh>
-	      </geometry>
-	      <material>
-		<diffuse>0.0 0.0 0.0</diffuse>
-		<specular>0.5 0.5 0.5</specular>
-	      </material>
-	    </visual>
-	    <visual name='odom_fixed_joint_lump__r_antenna_link_visual_5'>
-	      <pose>-0.1565 -0.0762 0.114486 0 -0 0</pose>
-	      <geometry>
-		<mesh>
-		  <scale>1 1 1</scale>
-		  <uri>model://r1_rover/meshes/antenna_link.STL</uri>
-		</mesh>
-	      </geometry>
-	      <material>
-		<diffuse>0.0 0.0 0.0</diffuse>
-		<specular>0.5 0.5 0.5</specular>
-	      </material>
-	    </visual>
-	    <velocity_decay/>
-	    <velocity_decay/>
-	    <velocity_decay/>
-	    <velocity_decay/>
-	    <velocity_decay/>
-	    <gravity>1</gravity>
-	    <velocity_decay/>
-	    <sensor name="imu_sensor" type="imu">
-		<always_on>1</always_on>
-		<update_rate>250</update_rate>
-	    </sensor>
-	    <sensor name="air_pressure_sensor" type="air_pressure">
-		<always_on>1</always_on>
-		<update_rate>50</update_rate>
-		<air_pressure>
-		  <pressure>
-		    <noise type="gaussian">
-		      <mean>0</mean>
-		      <stddev>0.01</stddev>
-		    </noise>
-		  </pressure>
-		</air_pressure>
-	      </sensor>
-	  </link>
-	  <link name='lf_wheel_link'>
-		<pose>0.15 0.16317 0.0215 0 -0 0</pose>
-		<inertial>
-		  <pose>0 0 0 1.57079632679 0 0</pose>
-		  <mass>0.414</mass>
-		  <inertia>
-		    <ixx>0.00068682</ixx>
-		    <ixy>0</ixy>
-		    <ixz>0</ixz>
-		    <iyy>0.00068682</iyy>
-		    <iyz>0</iyz>
-		    <izz>0.00097299</izz>
-		  </inertia>
-		</inertial>
-		<collision name='lf_wheel_link_collision'>
-		  <pose>0 0 0 1.57079632679 0 0</pose>
-		  <geometry>
-		    <cylinder>
-		      <radius>0.0686</radius>
-		      <length>0.0762</length>
-		    </cylinder>
-		  </geometry>
-		  <max_contacts>1</max_contacts>
-		  <surface>
-		    <friction>
-		      <torsional>
-			<coefficient>0.25</coefficient>
-			<use_patch_radius>1</use_patch_radius>
-			<surface_radius>0.0686</surface_radius>
-		      </torsional>
-		      <ode>
-			<mu>1.0</mu>
-			<mu2>1.0</mu2>
-			<fdir1>1 0 0</fdir1>
-			<slip1>0.0</slip1>
-			<slip2>0.0</slip2>
-		      </ode>
-		    </friction>
-		    <bounce>
-		      <restitution_coefficient>0</restitution_coefficient>
-		      <threshold>1e6</threshold>
-		    </bounce>
-		    <contact>
-		      <ode>
-			<min_depth>0.001</min_depth>
-			<max_vel>0.0</max_vel>
-			<kp>1.0e6</kp>
-			<kd>100.0</kd>
-		      </ode>
-		    </contact>
-		  </surface>
-		</collision>
-		<visual name='lf_wheel_link_visual'>
-		  <pose>0 0 0 0 -0 0</pose>
-		  <geometry>
-		    <mesh>
-		      <scale>1 1 1</scale>
-		      <uri>model://r1_rover/meshes/wheel_link.STL</uri>
-		    </mesh>
-		  </geometry>
-		  <material>
-		    <diffuse>0.0 0.0 0.0</diffuse>
-		    <specular>0.5 0.5 0.5</specular>
-		  </material>
-		</visual>
-		<gravity>1</gravity>
-		<velocity_decay/>
-	      </link>
-	      <joint name='motor_0' type='revolute'>
-		<child>lf_wheel_link</child>
-		<parent>base_link</parent>
-		<axis>
-		  <xyz>0 1 0</xyz>
-		  <limit>
-		    <lower>-1e+16</lower>
-		    <upper>1e+16</upper>
-		  </limit>
-		  <dynamics>
-		    <spring_reference>0</spring_reference>
-		    <spring_stiffness>0</spring_stiffness>
-		  </dynamics>
-		  <use_parent_model_frame>1</use_parent_model_frame>
-		</axis>
-	      </joint>
-	  <link name='lb_wheel_link'>
-	    <pose>-0.15 0.16317 0.0215 0 -0 0</pose>
-	    <inertial>
-	      <pose>0 0 0 1.57079632679 0 0</pose>
-	      <mass>0.414</mass>
-	      <inertia>
-		<ixx>0.00068682</ixx>
-		<ixy>0</ixy>
-		<ixz>0</ixz>
-		<iyy>0.00068682</iyy>
-		<iyz>0</iyz>
-		<izz>0.00097299</izz>
-	      </inertia>
-	    </inertial>
-	    <collision name='lb_wheel_link_collision'>
-	      <pose>0 0 0 1.57079632679 0 0</pose>
-	      <geometry>
-		<cylinder>
-		  <radius>0.0686</radius>
-		  <length>0.0762</length>
-		</cylinder>
-	      </geometry>
-	      <max_contacts>1</max_contacts>
-	      <surface>
-		<friction>
-		  <torsional>
-		    <coefficient>0.25</coefficient>
-		    <use_patch_radius>1</use_patch_radius>
-		    <surface_radius>0.0686</surface_radius>
-		  </torsional>
-		  <ode>
-		    <mu>1.0</mu>
-		    <mu2>1.0</mu2>
-		    <fdir1>1 0 0</fdir1>
-		    <slip1>0.0</slip1>
-		    <slip2>0.0</slip2>
-		  </ode>
-		</friction>
-		<bounce>
-		  <restitution_coefficient>0</restitution_coefficient>
-		  <threshold>1e6</threshold>
-		</bounce>
-		<contact>
-		  <ode>
-		    <min_depth>0.001</min_depth>
-		    <max_vel>0.0</max_vel>
-		    <kp>1.0e6</kp>
-		    <kd>100.0</kd>
-		  </ode>
-		</contact>
-	      </surface>
-	    </collision>
-	    <visual name='lb_wheel_link_visual'>
-	      <pose>0 0 0 0 -0 0</pose>
-	      <geometry>
-		<mesh>
-		  <scale>1 1 1</scale>
-		  <uri>model://r1_rover/meshes/wheel_link.STL</uri>
-		</mesh>
-	      </geometry>
-	      <material>
-		<diffuse>0.0 0.0 0.0</diffuse>
-		<specular>0.5 0.5 0.5</specular>
-	      </material>
-	    </visual>
-	    <gravity>1</gravity>
-	    <velocity_decay/>
-	  </link>
-	  <joint name='motor_1' type='revolute'>
-	    <child>lb_wheel_link</child>
-	    <parent>base_link</parent>
-	    <axis>
-	      <xyz>0 1 0</xyz>
-	      <limit>
-		<lower>-1e+16</lower>
-		<upper>1e+16</upper>
-	      </limit>
-	      <dynamics>
-		<spring_reference>0</spring_reference>
-		<spring_stiffness>0</spring_stiffness>
-	      </dynamics>
-	      <use_parent_model_frame>1</use_parent_model_frame>
-	    </axis>
-	  </joint>
-	  <link name='rf_wheel_link'>
-		<pose>0.15 -0.16317 0.0215 0 -0 0</pose>
-		<inertial>
-		  <pose>0 0 0 1.57079632679 0 0</pose>
-		  <mass>0.414</mass>
-		  <inertia>
-		    <ixx>0.00068682</ixx>
-		    <ixy>0</ixy>
-		    <ixz>0</ixz>
-		    <iyy>0.00068682</iyy>
-		    <iyz>0</iyz>
-		    <izz>0.00097299</izz>
-		  </inertia>
-		</inertial>
-		<collision name='rf_wheel_link_collision'>
-		  <pose>0 0 0 1.57079632679 0 0</pose>
-		  <geometry>
-		    <cylinder>
-		      <radius>0.0686</radius>
-		      <length>0.0762</length>
-		    </cylinder>
-		  </geometry>
-		  <max_contacts>1</max_contacts>
-		  <surface>
-		    <friction>
-		      <torsional>
-			<coefficient>0.25</coefficient>
-			<use_patch_radius>1</use_patch_radius>
-			<surface_radius>0.0686</surface_radius>
-		      </torsional>
-		      <ode>
-			<mu>1.0</mu>
-			<mu2>1.0</mu2>
-			<fdir1>1 0 0</fdir1>
-			<slip1>0.0</slip1>
-			<slip2>0.0</slip2>
-		      </ode>
-		    </friction>
-		    <bounce>
-		      <restitution_coefficient>0</restitution_coefficient>
-		      <threshold>1e6</threshold>
-		    </bounce>
-		    <contact>
-		      <ode>
-			<min_depth>0.001</min_depth>
-			<max_vel>0.0</max_vel>
-			<kp>1.0e6</kp>
-			<kd>100.0</kd>
-		      </ode>
-		    </contact>
-		  </surface>
-		</collision>
-		<visual name='rf_wheel_link_visual'>
-		  <pose>0 0 0 0 -0 0</pose>
-		  <geometry>
-		    <mesh>
-		      <scale>1 1 1</scale>
-		      <uri>model://r1_rover/meshes/wheel_link.STL</uri>
-		    </mesh>
-		  </geometry>
-		  <material>
-		    <diffuse>0.0 0.0 0.0</diffuse>
-		    <specular>0.5 0.5 0.5</specular>
-		  </material>
-		</visual>
-		<gravity>1</gravity>
-		<velocity_decay/>
-	      </link>
-	      <joint name='motor_2' type='revolute'>
-		<child>rf_wheel_link</child>
-		<parent>base_link</parent>
-		<axis>
-		  <xyz>0 -1 0</xyz>
-		  <limit>
-		    <lower>-1e+16</lower>
-		    <upper>1e+16</upper>
-		  </limit>
-		  <dynamics>
-		    <spring_reference>0</spring_reference>
-		    <spring_stiffness>0</spring_stiffness>
-		  </dynamics>
-		  <use_parent_model_frame>1</use_parent_model_frame>
-		</axis>
-	      </joint>
-	  <link name='rb_wheel_link'>
-	    <pose>-0.15 -0.16317 0.0215 0 -0 0</pose>
-	    <inertial>
-	      <pose>0 0 0 1.57079632679 0 0</pose>
-	      <mass>0.414</mass>
-	      <inertia>
-		<ixx>0.00068682</ixx>
-		<ixy>0</ixy>
-		<ixz>0</ixz>
-		<iyy>0.00068682</iyy>
-		<iyz>0</iyz>
-		<izz>0.00097299</izz>
-	      </inertia>
-	    </inertial>
-	    <collision name='rb_wheel_link_collision'>
-	      <pose>0 0 0 1.57079632679 0 0</pose>
-	      <geometry>
-		<cylinder>
-		  <radius>0.0686</radius>
-		  <length>0.0762</length>
-		</cylinder>
-	      </geometry>
-	      <max_contacts>1</max_contacts>
-	      <surface>
-		<friction>
-		  <torsional>
-		    <coefficient>0.25</coefficient>
-		    <use_patch_radius>1</use_patch_radius>
-		    <surface_radius>0.0686</surface_radius>
-		  </torsional>
-		  <ode>
-		    <mu>1.0</mu>
-		    <mu2>1.0</mu2>
-		    <fdir1>1 0 0</fdir1>
-		    <slip1>0.0</slip1>
-		    <slip2>0.0</slip2>
-		  </ode>
-		</friction>
-		<bounce>
-		  <restitution_coefficient>0</restitution_coefficient>
-		  <threshold>1e6</threshold>
-		</bounce>
-		<contact>
-		  <ode>
-		    <min_depth>0.001</min_depth>
-		    <kp>1e8</kp>
-		  </ode>
-		</contact>
-	      </surface>
-	    </collision>
-	    <visual name='rb_wheel_link_visual'>
-	      <pose>0 0 0 0 -0 0</pose>
-	      <geometry>
-		<mesh>
-		  <scale>1 1 1</scale>
-		  <uri>model://r1_rover/meshes/wheel_link.STL</uri>
-		</mesh>
-	      </geometry>
-	      <material>
-		<diffuse>0.0 0.0 0.0</diffuse>
-		<specular>0.5 0.5 0.5</specular>
-	      </material>
-	    </visual>
-	    <gravity>1</gravity>
-	    <velocity_decay/>
-	  </link>
-	  <joint name='motor_3' type='revolute'>
-	    <child>rb_wheel_link</child>
-	    <parent>base_link</parent>
-	    <axis>
-	      <xyz>0 -1 0</xyz>
-	      <limit>
-		<lower>-1e+16</lower>
-		<upper>1e+16</upper>
-	      </limit>
-	      <dynamics>
-		<spring_reference>0</spring_reference>
-		<spring_stiffness>0</spring_stiffness>
-	      </dynamics>
-	      <use_parent_model_frame>1</use_parent_model_frame>
-	    </axis>
-	  </joint>
-	  <static>0</static>
-	  <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
-		<joint_name>motor_0</joint_name>
-	        <sub_topic>command/motor_speed</sub_topic>
-	        <use_actuator_msg>true</use_actuator_msg>
-	        <actuator_number>1</actuator_number>
-		<p_gain>10.0</p_gain>
-	  </plugin>
-	  <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
-	        <joint_name>motor_1</joint_name>
-	        <sub_topic>command/motor_speed</sub_topic>
-		<use_actuator_msg>true</use_actuator_msg>
-	        <actuator_number>1</actuator_number>
-	        <p_gain>10.0</p_gain>
-	  </plugin>
-	  <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
-		<joint_name>motor_2</joint_name>
-		<sub_topic>command/motor_speed</sub_topic>
-		<use_actuator_msg>true</use_actuator_msg>
-		<actuator_number>0</actuator_number>
-		<p_gain>10.0</p_gain>
-	  </plugin>
-	  <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
-		<joint_name>motor_3</joint_name>
-		<sub_topic>command/motor_speed</sub_topic>
-		<use_actuator_msg>true</use_actuator_msg>
-		<actuator_number>0</actuator_number>
-		<p_gain>10.0</p_gain>
-	  </plugin>
+    <link name='base_link'>
+	    	<pose>0 0 0 0 -0 0</pose>
+			<inertial>
+				<pose>0 0 0 0 -0 0</pose>
+				<mass>20.0</mass>
+				<inertia>
+					<ixx>0.37083</ixx>
+					<ixy>0.0</ixy>
+					<ixz>0.0</ixz>
+					<iyy>0.37083</iyy>
+					<iyz>0.0</iyz>
+					<izz>0.53333</izz>
+				</inertia>
+			</inertial>
+			<collision name='odom_fixed_joint_lump__base_link_collision'>
+				<pose>0 0 0.15 0 -0 0</pose>
+				<geometry>
+					<box>
+					<size>0.4 0.4 0.25</size>
+					</box>
+				</geometry>
+				<surface>
+					<contact>
+						<ode/>
+					</contact>
+					<friction>
+						<ode/>
+					</friction>
+				</surface>
+			</collision>
+			<visual name='odom_fixed_joint_lump__base_link_visual'>
+				<pose>0 0 0 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/chassis_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>1.0 1.0 1.0</diffuse>
+					<specular>1.0 1.0 1.0</specular>
+				</material>
+			</visual>
+			<visual name='odom_fixed_joint_lump__top_link_visual_1'>
+				<pose>0 0 0.114486 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/top_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>1.0 1.0 1.0</diffuse>
+					<specular>1.0 1.0 1.0</specular>
+				</material>
+			</visual>
+			<visual name='odom_fixed_joint_lump__battery_link_visual_2'>
+				<pose>-0.09302 -0.000128 0.114486 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/battery_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<visual name='odom_fixed_joint_lump__housing_link_visual_3'>
+				<pose>0.03473 0 0.114486 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/housing_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<visual name='odom_fixed_joint_lump__l_antenna_link_visual_4'>
+				<pose>-0.1565 0.0762 0.114486 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/antenna_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<visual name='odom_fixed_joint_lump__r_antenna_link_visual_5'>
+				<pose>-0.1565 -0.0762 0.114486 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/antenna_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<velocity_decay/>
+			<velocity_decay/>
+			<velocity_decay/>
+			<velocity_decay/>
+			<velocity_decay/>
+			<gravity>1</gravity>
+			<velocity_decay/>
+			<sensor name="imu_sensor" type="imu">
+				<always_on>1</always_on>
+				<update_rate>250</update_rate>
+			</sensor>
+			<sensor name="air_pressure_sensor" type="air_pressure">
+				<always_on>1</always_on>
+				<update_rate>50</update_rate>
+				<air_pressure>
+					<pressure>
+						<noise type="gaussian">
+							<mean>0</mean>
+							<stddev>0.01</stddev>
+						</noise>
+					</pressure>
+				</air_pressure>
+			</sensor>
+			<sensor name="navsat_sensor" type="navsat">
+				<always_on>1</always_on>
+				<update_rate>30</update_rate>
+			</sensor>
+		</link>
+	  	<link name='lf_wheel_link'>
+			<pose>0.15 0.16317 0.0215 0 -0 0</pose>
+			<inertial>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<mass>0.414</mass>
+				<inertia>
+					<ixx>0.00068682</ixx>
+					<ixy>0</ixy>
+					<ixz>0</ixz>
+					<iyy>0.00068682</iyy>
+					<iyz>0</iyz>
+					<izz>0.00097299</izz>
+				</inertia>
+			</inertial>
+			<collision name='lf_wheel_link_collision'>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<geometry>
+					<cylinder>
+						<radius>0.0686</radius>
+						<length>0.0762</length>
+					</cylinder>
+				</geometry>
+				<max_contacts>1</max_contacts>
+				<surface>
+					<friction>
+						<torsional>
+							<coefficient>0.25</coefficient>
+							<use_patch_radius>1</use_patch_radius>
+							<surface_radius>0.0686</surface_radius>
+						</torsional>
+						<ode>
+							<mu>1.0</mu>
+							<mu2>1.0</mu2>
+							<fdir1>1 0 0</fdir1>
+							<slip1>0.0</slip1>
+							<slip2>0.0</slip2>
+						</ode>
+					</friction>
+					<bounce>
+						<restitution_coefficient>0</restitution_coefficient>
+						<threshold>1e6</threshold>
+					</bounce>
+					<contact>
+						<ode>
+							<min_depth>0.001</min_depth>
+							<max_vel>0.0</max_vel>
+							<kp>1.0e6</kp>
+							<kd>100.0</kd>
+						</ode>
+					</contact>
+				</surface>
+			</collision>
+			<visual name='lf_wheel_link_visual'>
+				<pose>0 0 0 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/wheel_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+		</link>
+		<joint name='motor_0' type='revolute'>
+			<child>lf_wheel_link</child>
+			<parent>base_link</parent>
+			<axis>
+				<xyz>0 1 0</xyz>
+				<limit>
+					<lower>-1e+16</lower>
+					<upper>1e+16</upper>
+				</limit>
+				<dynamics>
+					<spring_reference>0</spring_reference>
+					<spring_stiffness>0</spring_stiffness>
+				</dynamics>
+				<use_parent_model_frame>1</use_parent_model_frame>
+			</axis>
+		</joint>
+	  	<link name='lb_wheel_link'>
+	    	pose>-0.15 0.16317 0.0215 0 -0 0</pose>
+	    	<inertial>
+			<pose>0 0 0 1.57079632679 0 0</pose>
+			<mass>0.414</mass>
+				<inertia>
+					<ixx>0.00068682</ixx>
+					<ixy>0</ixy>
+					<ixz>0</ixz>
+					<iyy>0.00068682</iyy>
+					<iyz>0</iyz>
+					<izz>0.00097299</izz>
+				</inertia>
+			</inertial>
+			<collision name='lb_wheel_link_collision'>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<geometry>
+					<cylinder>
+						<radius>0.0686</radius>
+						<length>0.0762</length>
+					</cylinder>
+				</geometry>
+				<max_contacts>1</max_contacts>
+				<surface>
+					<friction>
+					<torsional>
+						<coefficient>0.25</coefficient>
+						<use_patch_radius>1</use_patch_radius>
+						<surface_radius>0.0686</surface_radius>
+					</torsional>
+					<ode>
+						<mu>1.0</mu>
+						<mu2>1.0</mu2>
+						<fdir1>1 0 0</fdir1>
+						<slip1>0.0</slip1>
+						<slip2>0.0</slip2>
+					</ode>
+					</friction>
+					<bounce>
+						<restitution_coefficient>0</restitution_coefficient>
+						<threshold>1e6</threshold>
+					</bounce>
+					<contact>
+					<ode>
+						<min_depth>0.001</min_depth>
+						<max_vel>0.0</max_vel>
+						<kp>1.0e6</kp>
+						<kd>100.0</kd>
+					</ode>
+					</contact>
+				</surface>
+	    	</collision>
+			<visual name='lb_wheel_link_visual'>
+				<pose>0 0 0 0 -0 0</pose>
+					<geometry>
+						<mesh>
+							<scale>1 1 1</scale>
+							<uri>model://r1_rover/meshes/wheel_link.STL</uri>
+						</mesh>
+					</geometry>
+					<material>
+						<diffuse>0.0 0.0 0.0</diffuse>
+						<specular>0.5 0.5 0.5</specular>
+					</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+	 	</link>
+		<joint name='motor_1' type='revolute'>
+			<child>lb_wheel_link</child>
+			<parent>base_link</parent>
+			<axis>
+				<xyz>0 1 0</xyz>
+				<limit>
+					<lower>-1e+16</lower>
+					<upper>1e+16</upper>
+				</limit>
+				<dynamics>
+					<spring_reference>0</spring_reference>
+					<spring_stiffness>0</spring_stiffness>
+				</dynamics>
+				<use_parent_model_frame>1</use_parent_model_frame>
+			</axis>
+		</joint>
+	  	<link name='rf_wheel_link'>
+			<pose>0.15 -0.16317 0.0215 0 -0 0</pose>
+			<inertial>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<mass>0.414</mass>
+				<inertia>
+					<ixx>0.00068682</ixx>
+					<ixy>0</ixy>
+					<ixz>0</ixz>
+					<iyy>0.00068682</iyy>
+					<iyz>0</iyz>
+					<izz>0.00097299</izz>
+				</inertia>
+			</inertial>
+			<collision name='rf_wheel_link_collision'>
+				pose>0 0 0 1.57079632679 0 0</pose>
+				<geometry>
+					<cylinder>
+						<radius>0.0686</radius>
+						<length>0.0762</length>
+					</cylinder>
+				</geometry>
+				<max_contacts>1</max_contacts>
+				<surface>
+					<friction>
+					<torsional>
+					<coefficient>0.25</coefficient>
+					<use_patch_radius>1</use_patch_radius>
+					<surface_radius>0.0686</surface_radius>
+					</torsional>
+					<ode>
+					<mu>1.0</mu>
+					<mu2>1.0</mu2>
+					<fdir1>1 0 0</fdir1>
+					<slip1>0.0</slip1>
+					<slip2>0.0</slip2>
+					</ode>
+					</friction>
+					<bounce>
+					<restitution_coefficient>0</restitution_coefficient>
+					<threshold>1e6</threshold>
+					</bounce>
+					<contact>
+					<ode>
+					<min_depth>0.001</min_depth>
+					<max_vel>0.0</max_vel>
+					<kp>1.0e6</kp>
+					<kd>100.0</kd>
+					</ode>
+					</contact>
+				</surface>
+			</collision>
+			<visual name='rf_wheel_link_visual'>
+				<pose>0 0 0 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/wheel_link.STL</uri>
+					</mesh>
+		  		</geometry>
+		  		<material>
+		    		<diffuse>0.0 0.0 0.0</diffuse>
+		    		<specular>0.5 0.5 0.5</specular>
+		  		</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+		</link>
+		<joint name='motor_2' type='revolute'>
+			<child>rf_wheel_link</child>
+			<parent>base_link</parent>
+			<axis>
+				<xyz>0 -1 0</xyz>
+				<limit>
+					<lower>-1e+16</lower>
+					<upper>1e+16</upper>
+				</limit>
+				<dynamics>
+					<spring_reference>0</spring_reference>
+					<spring_stiffness>0</spring_stiffness>
+				</dynamics>
+				<use_parent_model_frame>1</use_parent_model_frame>
+			</axis>
+		</joint>
+	  	<link name='rb_wheel_link'>
+			<pose>-0.15 -0.16317 0.0215 0 -0 0</pose>
+			<inertial>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<mass>0.414</mass>
+				<inertia>
+					<ixx>0.00068682</ixx>
+					<ixy>0</ixy>
+					<ixz>0</ixz>
+					<iyy>0.00068682</iyy>
+					<iyz>0</iyz>
+					<izz>0.00097299</izz>
+				</inertia>
+			</inertial>
+			<collision name='rb_wheel_link_collision'>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<geometry>
+					<cylinder>
+						<radius>0.0686</radius>
+						<length>0.0762</length>
+					</cylinder>
+				</geometry>
+				<max_contacts>1</max_contacts>
+				<surface>
+					<friction>
+						<torsional>
+							<coefficient>0.25</coefficient>
+							<use_patch_radius>1</use_patch_radius>
+							<surface_radius>0.0686</surface_radius>
+						</torsional>
+						<ode>
+							<mu>1.0</mu>
+							<mu2>1.0</mu2>
+							<fdir1>1 0 0</fdir1>
+							<slip1>0.0</slip1>
+							<slip2>0.0</slip2>
+						</ode>
+					</friction>
+					<bounce>
+						<restitution_coefficient>0</restitution_coefficient>
+						<threshold>1e6</threshold>
+					</bounce>
+					<contact>
+						<ode>
+							<min_depth>0.001</min_depth>
+							<kp>1e8</kp>
+						</ode>
+					</contact>
+				</surface>
+			</collision>
+			<visual name='rb_wheel_link_visual'>
+				<pose>0 0 0 0 -0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/wheel_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+	 	</link>
+		<joint name='motor_3' type='revolute'>
+			<child>rb_wheel_link</child>
+			<parent>base_link</parent>
+			<axis>
+				<xyz>0 -1 0</xyz>
+				<limit>
+					<lower>-1e+16</lower>
+					<upper>1e+16</upper>
+				</limit>
+				<dynamics>
+					<spring_reference>0</spring_reference>
+					<spring_stiffness>0</spring_stiffness>
+				</dynamics>
+				<use_parent_model_frame>1</use_parent_model_frame>
+			</axis>
+		</joint>
+	  	<static>0</static>
+		<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
+			<joint_name>motor_0</joint_name>
+			<sub_topic>command/motor_speed</sub_topic>
+			<use_actuator_msg>true</use_actuator_msg>
+			<actuator_number>1</actuator_number>
+			<p_gain>10.0</p_gain>
+		</plugin>
+		<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
+			<joint_name>motor_1</joint_name>
+			<sub_topic>command/motor_speed</sub_topic>
+			<use_actuator_msg>true</use_actuator_msg>
+			<actuator_number>1</actuator_number>
+			<p_gain>10.0</p_gain>
+		</plugin>
+		<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
+			<joint_name>motor_2</joint_name>
+			<sub_topic>command/motor_speed</sub_topic>
+			<use_actuator_msg>true</use_actuator_msg>
+			<actuator_number>0</actuator_number>
+			<p_gain>10.0</p_gain>
+		</plugin>
+		<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
+			<joint_name>motor_3</joint_name>
+			<sub_topic>command/motor_speed</sub_topic>
+			<use_actuator_msg>true</use_actuator_msg>
+			<actuator_number>0</actuator_number>
+			<p_gain>10.0</p_gain>
+		</plugin>
 		<plugin
-		filename="gz-sim-joint-state-publisher-system"
-		name="gz::sim::systems::JointStatePublisher">
+			filename="gz-sim-joint-state-publisher-system"
+			name="gz::sim::systems::JointStatePublisher">
 			<joint_name>motor_0</joint_name>
 			<joint_name>motor_1</joint_name>
 			<joint_name>motor_2</joint_name>
 			<joint_name>motor_3</joint_name>
 		</plugin>
 	</model>
-      </sdf>
+</sdf>
diff --git a/models/rc_cessna/model.sdf b/models/rc_cessna/model.sdf
index 099ed77..dadeaa0 100644
--- a/models/rc_cessna/model.sdf
+++ b/models/rc_cessna/model.sdf
@@ -84,6 +84,10 @@
         <always_on>1</always_on>
         <update_rate>250</update_rate>
       </sensor>
+      <sensor name="navsat_sensor" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
       <sensor name="air_pressure_sensor" type="air_pressure">
         <always_on>1</always_on>
         <update_rate>50</update_rate>
diff --git a/models/standard_vtol/model.sdf b/models/standard_vtol/model.sdf
index 61f9d14..250cc67 100644
--- a/models/standard_vtol/model.sdf
+++ b/models/standard_vtol/model.sdf
@@ -146,6 +146,10 @@
           </pressure>
         </air_pressure>
       </sensor>
+      <sensor name="navsat_sensor" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
     </link>
     <link name='rotor_0'>
       <pose>0.35 -0.35 0.07 0 0 0</pose>
diff --git a/models/x500_base/model.sdf b/models/x500_base/model.sdf
index 5e0830e..a7f2d15 100644
--- a/models/x500_base/model.sdf
+++ b/models/x500_base/model.sdf
@@ -231,6 +231,10 @@
         <always_on>1</always_on>
         <update_rate>250</update_rate>
       </sensor>
+      <sensor name="navsat_sensor" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
     </link>
     <link name="rotor_0">
       <gravity>true</gravity>
diff --git a/worlds/baylands.sdf b/worlds/baylands.sdf
index 63db833..b60e574 100644
--- a/worlds/baylands.sdf
+++ b/worlds/baylands.sdf
@@ -12,6 +12,7 @@
     <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
     <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
     <plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
+    <plugin name='gz::sim::systems::NavSat' filename='gz-sim-navsat-system'/>
     <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
       <render_engine>ogre2</render_engine>
     </plugin>
@@ -73,22 +74,25 @@
     <scene>
       <ambient>0.8 0.5 1</ambient>
       <grid>false</grid>
+      <sky>
+        <clouds>true</clouds>
+      </sky>
+      <shadows>1</shadows>
     </scene>
-    <light type="directional" name="sun">
-      <cast_shadows>true</cast_shadows>
-      <pose>0 0 100 0 0.75 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.0 0.0 0.0 1</specular>
-      <intensity>5</intensity>
+    <light name='sunUTC' type='directional'>
+      <pose>0 0 500 0 -0 0</pose>
+      <cast_shadows>false</cast_shadows>
+      <intensity>1</intensity>
+      <direction>0.001 0.625 -0.78</direction>
+      <diffuse>0.904 0.904 0.904 1</diffuse>
+      <specular>0.271 0.271 0.271 1</specular>
       <attenuation>
-        <range>100</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
+        <range>2000</range>
+        <linear>0</linear>
+        <constant>1</constant>
+        <quadratic>0</quadratic>
       </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
     </light>
-
     <include>
       <uri>
         https://fuel.gazebosim.org/1.0/OpenRobotics/models/baylands
@@ -103,7 +107,12 @@
       <pose>0 0 -2 0 0 0
         <relative_to>park</relative_to>
       </pose>
-
     </include>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <world_frame_orientation>ENU</world_frame_orientation>
+      <latitude_deg>37.412173071650805</latitude_deg>
+      <longitude_deg>-121.998878727967</longitude_deg>
+    </spherical_coordinates>
   </world>
 </sdf>
diff --git a/worlds/default.sdf b/worlds/default.sdf
index c8effff..ca51728 100644
--- a/worlds/default.sdf
+++ b/worlds/default.sdf
@@ -12,6 +12,7 @@
     <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
     <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
     <plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
+    <plugin name='gz::sim::systems::NavSat' filename='gz-sim-navsat-system'/>
     <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
       <render_engine>ogre2</render_engine>
     </plugin>
@@ -144,6 +145,13 @@
         <falloff>0</falloff>
       </spot>
     </light>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <world_frame_orientation>ENU</world_frame_orientation>
+      <latitude_deg>47.397971057728974</latitude_deg>
+      <longitude_deg> 8.546163739800146</longitude_deg>
+      <altitude>0</altitude>
+    </spherical_coordinates>
   </world>
 </sdf>
 
diff --git a/worlds/windy.sdf b/worlds/windy.sdf
index 1cbf66f..be403a5 100644
--- a/worlds/windy.sdf
+++ b/worlds/windy.sdf
@@ -12,6 +12,7 @@
     <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
     <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
     <plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
+    <plugin name='gz::sim::systems::NavSat' filename='gz-sim-navsat-system'/>
     <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
       <render_engine>ogre2</render_engine>
     </plugin>
@@ -145,7 +146,14 @@
       </spot>
     </light>
     <wind>
-	<linear_velocity>10 10 10</linear_velocity>
+      <linear_velocity>10 10 10</linear_velocity>
     </wind>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <world_frame_orientation>ENU</world_frame_orientation>
+      <latitude_deg>47.397971057728974</latitude_deg>
+      <longitude_deg> 8.546163739800146</longitude_deg>
+      <altitude>0</altitude>
+    </spherical_coordinates>
   </world>
 </sdf>