New world models and the Intel RealSense D435i model have been added

[serkanMzlm]

Thanks to the new RealSense model, the camera was positioned facing downward to enable VIO, and it was tested with PX4-Autopilot. It worked successfully.

New world models with different environments have been added. To prevent the simulation program from being overloaded, collision elements of other objects within these models have been removed.

[dakejahl]

Thanks for this! I tried testing, looks like we're missing the cube model

[Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="maze"]/include[0]/uri:/home/jake/code/jake/PX4-Autopilot/Tools/simulation/gz/worlds/maze.sdf:L199]: Msg: Unable to find uri[model://cube]
[Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="maze"]/include[1]/uri:/home/jake/code/jake/PX4-Autopilot/Tools/simulation/gz/worlds/maze.sdf:L205]: Msg: Unable to find uri[model://cube]
WARN  [gz_bridge] Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly.
ERROR [gz_bridge] Task start failed (-1)
ERROR [init] gz_bridge failed to start and spawn model
ERROR [px4] Startup script returned with return value: 256
^Cninja: build stopped: interrupted by user.
make: *** [Makefile:232: px4_sitl] Interrupt

Another thing I am wondering is if we want to bring in all of these models. @Jaeyoung-Lim what do you think?

[Jaeyoung-Lim]

Each model that is part of this repository tests a specific feature in PX4.

Could you elaborate why adding this model provides value?

[dakejahl]

Could you elaborate why adding this model provides value?

I will say we really could use a better world. Then I wouldn't need to do this non-sense 😅
(mr meseeks tiled image for ground texture)
https://github.com/PX4/PX4-gazebo-models/pull/75/files#diff-5131df54faa4c244d4422beef1a07dc822b9802227ed3ae0a7825427618303c2

[dakejahl]

Suggested change

	<child>realsense_d435i/base_link</child>
	<child>camera_link</child>

[dakejahl]

Suggested change

	<link name="realsense_d435i/base_link">
	<link name="camera_link">

[dakejahl]

same here, we can't specify absolute topic name, because it will appear as

/distance_sensor

and will not work when there are multiple models with a distance sensor

[serkanMzlm]

burada da aynı, mutlak konu adı belirtemeyiz çünkü şu şekilde görünecektir:

/distance_sensor

ve mesafe sensörüne sahip birden fazla model olduğunda çalışmayacaktır

Yes, I didn’t consider this part. My goal was to receive the data for VIO, but instead of specifying the topic name, having it directly under the vehicle’s name might be more useful.

[dakejahl]

Suggested change

<topic>imu</topic>

[dakejahl]

Suggested change

<topic>camera/left</topic>

[dakejahl]

🤔

[dakejahl]

Suggested change

	</sdf>
	</sdf>

[dakejahl]

Suggested change

	</sdf>
	</sdf>

[dakejahl]

Suggested change

	}
	}

[dakejahl]

Suggested change

	</sdf>
	</sdf>