Generate your own Worlds - gsilano/BebopS GitHub Wiki

There are several ways to generate your own worlds:

• generate worlds by using heightmaps, or
• you can generate worlds from within Gazebo (using drag and drop of objects or using the building editor), or
• write directly your own .world files.

For BebopS to work with ROS in your own world you should add the following line to your .world file:

<plugin name="ros_interface_plugin" filename="librotors_gazebo_ros_interface_plugin.so"/>

It should be placed somewhere within the <world> tags:

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <plugin name="ros_interface_plugin" filename="librotors_gazebo_ros_interface_plugin.so"/>
    ...
  ...
  </world>
</sdf>

You can additionally generate octomaps from your worlds or add custom wind fields to your world.