To get more information about one of the scripts call it with the --help flag.

Create a folder named after the world and copy all the provided files into that folder.

The folder should have following structure:

worlds
|_ <world_name>
    |_ Heightmap.csv (Heightmap in matrix notation [DTM_v2])
    |_ Landmarks.csv
    |_ Waypoints.csv
    |_ start.yaml (the spawning position of the rover [start_x, start_y, start_z])

Call script rosrun rover_sim build_world.py /path/to/world.

Recall script rosrun rover_sim build_world.py /path/to/world.

Changes you made in world.world will not be overwritten (like adding additional models, turning of shadows).

Create the above folder-structure and files with the help of rosrun rover_sim generate_random_heightmap.py.

Manually create the Landmarks and Waypoints or use one of the templates.

Landmarks might be partially submerged or float above the ground due to corrupted *.csv files. To fix a broken provided file or adapt landmarks to randomly created terrains, call

rosrun rover_sim fix_landmark_heights.py

This will snap the landmarks to the ground according to the given heightmap.