From 4081701d92f76b4a2004c76001cab798e06d8b3d Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Tue, 15 Mar 2022 14:11:01 -0700
Subject: [PATCH 1/9] Portuguese Ledge world

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .../worlds/portuguese_ledge.sdf               | 347 ++++++++++++++++++
 1 file changed, 347 insertions(+)
 create mode 100644 lrauv_ignition_plugins/worlds/portuguese_ledge.sdf

diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
new file mode 100644
index 00000000..80f93c1f
--- /dev/null
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
@@ -0,0 +1,347 @@
+<?xml version="1.0" ?>
+<!--
+  Development of this module has been funded by the Monterey Bay Aquarium
+  Research Institute (MBARI) and the David and Lucile Packard Foundation
+-->
+
+<!--
+
+  This world doesn't contain any vehicles. They're spawned at runtime by
+  WorldCommPlugin as it receives LRAUVInit messages.
+
+-->
+<sdf version="1.6">
+  <world name="LRAUV">
+    <scene>
+      <ambient>0.0 1.0 1.0</ambient>
+      <background>0.0 0.7 0.8</background>
+
+      <grid>false</grid>
+    </scene>
+
+    <physics name="1ms" type="dart">
+      <max_step_size>0.02</max_step_size>
+      <real_time_factor>0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <plugin
+      filename="ignition-gazebo-buoyancy-system"
+      name="ignition::gazebo::systems::Buoyancy">
+      <uniform_fluid_density>1025</uniform_fluid_density>
+    </plugin>
+
+    <!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
+      to ParticleEmitter in Ignition G.
+      See https://github.com/ignitionrobotics/ign-gazebo/pull/730 -->
+    <plugin
+      filename="ignition-gazebo-particle-emitter2-system"
+      name="ignition::gazebo::systems::ParticleEmitter2">
+    </plugin>
+
+    <!-- Uncomment for time analysis -->
+    <!--plugin
+      filename="TimeAnalysisPlugin"
+      name="tethys::TimeAnalysisPlugin">
+    </plugin-->
+
+    <plugin
+      filename="ScienceSensorsSystem"
+      name="tethys::ScienceSensorsSystem">
+      <data_path>2003080103_mb_l3_las.csv</data_path>
+    </plugin>
+
+    <!-- Interface with LRAUV Main Vehicle Application for the world -->
+    <plugin
+      filename="WorldCommPlugin"
+      name="tethys::WorldCommPlugin">
+      <init_topic>/lrauv/init</init_topic>
+    </plugin>
+
+    <gui fullscreen="0">
+
+      <!-- 3D scene -->
+      <plugin filename="MinimalScene" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre</engine>
+        <scene>scene</scene>
+        <ambient_light>0.4 0.4 0.4</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <!-- looking at robot -->
+        <camera_pose>0 6 6 0 0.5 -1.57</camera_pose>
+        <!-- looking at all science data for 2003080103_mb_l3_las.csv -->
+        <!--camera_pose>-50000 -30000 250000 0 1.1 1.58</camera_pose-->
+        <camera_clip>
+          <!-- ortho view needs low near clip -->
+          <!-- but a very low near clip messes orbit's far clip ?! -->
+          <near>0.1</near>
+          <!-- See 3000 km away -->
+          <far>3000000</far>
+        </camera_clip>
+      </plugin>
+
+      <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <ignition-gui>
+          <property key="state" type="string">floating</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="GzSceneManager" name="Scene Manager">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="CameraTracking" name="Camera Tracking">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="MarkerManager" name="Marker manager">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+        <warn_on_action_failure>false</warn_on_action_failure>
+      </plugin>
+      <plugin filename="SelectEntities" name="Select Entities">
+        <ignition-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+        <ignition-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+
+      <!-- World control -->
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+      </plugin>
+
+      <!-- World statistics -->
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+
+      <plugin filename="Plot3D" name="Plot 3D">
+        <ignition-gui>
+          <title>Plot Tethys 3D path</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+        <entity_name>tethys</entity_name>
+        <color>0 0 1</color>
+        <maximum_points>10000</maximum_points>
+        <minimum_distance>0.5</minimum_distance>
+      </plugin>
+      <plugin filename="ComponentInspector" name="Component Inspector">
+        <ignition-gui>
+          <title>Inspector</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="PointCloud" name="Visualize science data">
+        <ignition-gui>
+          <title>Visualize science data</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="ViewAngle" name="Camera controls">
+        <ignition-gui>
+          <title>Camera controls</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="GridConfig" name="Grid config">
+        <ignition-gui>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+        <insert>
+          <!-- 300 km x 300 km -->
+          <cell_count>6</cell_count>
+          <vertical_cell_count>0</vertical_cell_count>
+          <!-- 50 km -->
+          <cell_length>50000</cell_length>
+          <pose>0 100000 0  0 0 0.32</pose>
+          <color>0 1 0 1</color>
+        </insert>
+        <insert>
+          <!-- 0.1 km x 0.1 km -->
+          <cell_count>100</cell_count>
+          <vertical_cell_count>0</vertical_cell_count>
+          <!-- 1 m -->
+          <cell_length>1</cell_length>
+          <pose>0 0 0  0 0 0</pose>
+          <color>0.5 0.5 0.5 1</color>
+        </insert>
+      </plugin>
+      <plugin filename="ControlPanelPlugin" name="Tethys Controls">
+        <ignition-gui>
+          <title>Tethys controls</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="ReferenceAxis" name="Reference axis">
+        <ignition-gui>
+          <title>Reference axis</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+        <fsk>tethys</fsk>
+      </plugin>
+    </gui>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+
+    <!-- This invisible plane helps with orbiting the camera, especially at large scales -->
+    <model name="horizontal_plane">
+      <static>true</static>
+      <link name="link">
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <!-- 300 km x 300 km -->
+              <size>300000 300000</size>
+            </plane>
+          </geometry>
+          <transparency>1.0</transparency>
+        </visual>
+      </link>
+    </model>
+
+    <!-- Uncomment for particle effect
+      Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
+      to ParticleEmitter in Ignition G.
+      See https://github.com/ignitionrobotics/ign-gazebo/pull/730 -->
+    <!--include>
+      <pose>-5 0 0 0 0 0</pose>
+      <uri>turbidity_generator</uri>
+    </include-->
+
+    <include>
+      <uri>
+        https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge
+      </uri>
+    </include>
+
+  </world>
+</sdf>

From 068842d4292a2a81fae9aaf13c99e76a96bfbe2c Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Tue, 22 Mar 2022 22:10:00 -0700
Subject: [PATCH 2/9] Load all tiles in the world - need to fix Y position
 (lat)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .../worlds/portuguese_ledge.py                |  13 +
 .../worlds/portuguese_ledge.sdf               | 595 +++++++++++++++++-
 .../worlds/portuguese_ledge.sdf.em            | 417 ++++++++++++
 3 files changed, 1000 insertions(+), 25 deletions(-)
 create mode 100644 lrauv_ignition_plugins/worlds/portuguese_ledge.py
 create mode 100644 lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em

diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.py b/lrauv_ignition_plugins/worlds/portuguese_ledge.py
new file mode 100644
index 00000000..6e72fe4f
--- /dev/null
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.py
@@ -0,0 +1,13 @@
+import em
+import os
+import sys
+
+def main():
+    template = open('portuguese_ledge.sdf.em').read()
+    arguments = {}
+    result = em.expand(template, arguments)
+    with open(os.path.join('portuguese_ledge.sdf'), 'w') as outfile:
+        outfile.write(result)
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
index 80f93c1f..20d0409f 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
@@ -10,6 +10,13 @@
   WorldCommPlugin as it receives LRAUVInit messages.
 
 -->
+
+<!--
+   $ gdalinfo -mm PortugueseLedgeTile1_DecDeg.grd | grep -i min
+   Computed Min/Max=-98.637,-73.297
+ -->
+
+
 <sdf version="1.6">
   <world name="LRAUV">
     <scene>
@@ -19,6 +26,18 @@
       <grid>false</grid>
     </scene>
 
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <world_frame_orientation>ENU</world_frame_orientation>
+
+      <!-- Center of Tile 1 -->
+      <latitude_deg>36.693509</latitude_deg>
+      <longitude_deg>-121.936568</longitude_deg>
+
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+
     <physics name="1ms" type="dart">
       <max_step_size>0.02</max_step_size>
       <real_time_factor>0</real_time_factor>
@@ -79,7 +98,7 @@
           <property type="string" key="state">docked</property>
         </ignition-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0.4 0.4 0.4</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>
@@ -310,38 +329,564 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
-
-    <!-- This invisible plane helps with orbiting the camera, especially at large scales -->
-    <model name="horizontal_plane">
+    <model name="portuguese_ledge_tile_1">
       <static>true</static>
       <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>0 0 0</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
+              <size>1000 1000 25.34</size>
+            </heightmap>
+          </geometry>
+        </collision>
         <visual name="visual">
           <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <!-- 300 km x 300 km -->
-              <size>300000 300000</size>
-            </plane>
+            <heightmap>
+              <pos>0 0 0</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
+              <size>1000 1000 25.34</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_2">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-750.151 8.24476 -0.0440663</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
+              <size>1000 1000 27.094</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-750.151 8.24476 -0.0440663</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
+              <size>1000 1000 27.094</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_3">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-1500.3 16.6662 -0.176266</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
+              <size>1000 1000 11.602</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-1500.3 16.6662 -0.176266</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
+              <size>1000 1000 11.602</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_4">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-2250.54 24.9313 -0.396628</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
+              <size>1000 1000 6.781</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-2250.54 24.9313 -0.396628</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
+              <size>1000 1000 6.781</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_5">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-3000.69 33.2621 -0.705101</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
+              <size>1000 1000 6.689</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-3000.69 33.2621 -0.705101</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
+              <size>1000 1000 6.689</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_6">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-3750.83 41.5476 -1.1017</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
+              <size>1000 1000 30.707</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-3750.83 41.5476 -1.1017</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
+              <size>1000 1000 30.707</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_7">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>8.31046 750.171 -0.0442596</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
+              <size>1000 1000 20.746</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>8.31046 750.171 -0.0442596</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
+              <size>1000 1000 20.746</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_8">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-741.865 758.415 -0.0883251</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
+              <size>1000 1000 29.343</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-741.865 758.415 -0.0883251</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
+              <size>1000 1000 29.343</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_9">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-1492.04 766.835 -0.22055</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
+              <size>1000 1000 6.851</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-1492.04 766.835 -0.22055</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
+              <size>1000 1000 6.851</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_10">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-2242.21 775.1 -0.440893</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
+              <size>1000 1000 6.462</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-2242.21 775.1 -0.440893</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
+              <size>1000 1000 6.462</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_11">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-2992.38 783.43 -0.749382</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
+              <size>1000 1000 29.339</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-2992.38 783.43 -0.749382</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
+              <size>1000 1000 29.339</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_12">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-3742.55 791.715 -1.146</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
+              <size>1000 1000 148.439</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-3742.55 791.715 -1.146</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
+              <size>1000 1000 148.439</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_13">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>16.6195 1500.34 -0.177038</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
+              <size>1000 1000 6.799</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>16.6195 1500.34 -0.177038</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
+              <size>1000 1000 6.799</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_14">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-733.49 1508.59 -0.221093</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
+              <size>1000 1000 6.814</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-733.49 1508.59 -0.221093</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
+              <size>1000 1000 6.814</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_15">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-1483.69 1517.01 -0.353332</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
+              <size>1000 1000 8.834</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-1483.69 1517.01 -0.353332</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
+              <size>1000 1000 8.834</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_16">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-2233.88 1525.27 -0.573678</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
+              <size>1000 1000 11.934</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-2233.88 1525.27 -0.573678</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
+              <size>1000 1000 11.934</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_17">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-2984.08 1533.6 -0.882182</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
+              <size>1000 1000 75.378</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-2984.08 1533.6 -0.882182</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
+              <size>1000 1000 75.378</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="portuguese_ledge_tile_18">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>-3734.18 1541.88 -1.27876</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
+              <size>1000 1000 229.765</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>-3734.18 1541.88 -1.27876</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
+              <size>1000 1000 229.765</size>
+            </heightmap>
           </geometry>
-          <transparency>1.0</transparency>
         </visual>
       </link>
     </model>
-
-    <!-- Uncomment for particle effect
-      Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
-      to ParticleEmitter in Ignition G.
-      See https://github.com/ignitionrobotics/ign-gazebo/pull/730 -->
-    <!--include>
-      <pose>-5 0 0 0 0 0</pose>
-      <uri>turbidity_generator</uri>
-    </include-->
-
-    <include>
-      <uri>
-        https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge
-      </uri>
-    </include>
 
   </world>
 </sdf>
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
new file mode 100644
index 00000000..bbe1d041
--- /dev/null
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
@@ -0,0 +1,417 @@
+<?xml version="1.0" ?>
+<!--
+  Development of this module has been funded by the Monterey Bay Aquarium
+  Research Institute (MBARI) and the David and Lucile Packard Foundation
+-->
+
+<!--
+
+  This world doesn't contain any vehicles. They're spawned at runtime by
+  WorldCommPlugin as it receives LRAUVInit messages.
+
+-->
+
+<!--
+   $ gdalinfo -mm PortugueseLedgeTile1_DecDeg.grd | grep -i min
+   Computed Min/Max=-98.637,-73.297
+ -->
+
+@{
+
+import math
+from dataclasses import dataclass
+from ignition.math import SphericalCoordinates, Vector3d, Angle
+
+@dataclass
+class Tile:
+    index: int
+    lat_deg: float
+    lon_deg: float
+    height: float
+    pos: Vector3d = Vector3d()
+
+# Center of all 18 tiles in degrees
+tiles = [
+    Tile(1, 36.693509, -121.936568, 25.34),
+    Tile(2, 36.693583, -121.944962, 27.094),
+    Tile(3, 36.693658, -121.953356, 11.602),
+    Tile(4, 36.693731, -121.961751, 6.781),
+    Tile(5, 36.693804, -121.970145, 6.689),
+    Tile(6, 36.693876, -121.978539, 30.707),
+    Tile(7, 36.700269, -121.936475, 20.746),
+    Tile(8, 36.700343, -121.944870, 29.343),
+    Tile(9, 36.700418, -121.953265, 6.851),
+    Tile(10, 36.700491, -121.961660, 6.462),
+    Tile(11, 36.700564, -121.970055, 29.339),
+    Tile(12, 36.700636, -121.978450, 148.439),
+    Tile(13, 36.707029, -121.936382, 6.799),
+    Tile(14, 36.707103, -121.944777, 6.814),
+    Tile(15, 36.707178, -121.953173, 8.834),
+    Tile(16, 36.707251, -121.961569, 11.934),
+    Tile(17, 36.707324, -121.969965, 75.378),
+    Tile(18, 36.707396, -121.978360, 229.765)]
+
+# Convert to world ENU coordinates
+sc = SphericalCoordinates(
+    SphericalCoordinates.EARTH_WGS84,
+    Angle(math.radians(tiles[0].lat_deg)),
+    Angle(math.radians(tiles[0].lon_deg)),
+    0, Angle(0))
+
+for tile in tiles:
+    vec = Vector3d(math.radians(tile.lat_deg), math.radians(tile.lon_deg), 0)
+    pos_enu = sc.position_transform(vec,
+        SphericalCoordinates.SPHERICAL,
+        SphericalCoordinates.LOCAL2)
+    tile.pos = pos_enu
+
+}@
+
+<sdf version="1.6">
+  <world name="LRAUV">
+    <scene>
+      <ambient>0.0 1.0 1.0</ambient>
+      <background>0.0 0.7 0.8</background>
+
+      <grid>false</grid>
+    </scene>
+
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <world_frame_orientation>ENU</world_frame_orientation>
+
+      <!-- Center of Tile 1 -->
+      <latitude_deg>@(tiles[0].lat_deg)</latitude_deg>
+      <longitude_deg>@(tiles[0].lon_deg)</longitude_deg>
+
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+
+    <physics name="1ms" type="dart">
+      <max_step_size>0.02</max_step_size>
+      <real_time_factor>0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <plugin
+      filename="ignition-gazebo-buoyancy-system"
+      name="ignition::gazebo::systems::Buoyancy">
+      <uniform_fluid_density>1025</uniform_fluid_density>
+    </plugin>
+
+    <!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
+      to ParticleEmitter in Ignition G.
+      See https://github.com/ignitionrobotics/ign-gazebo/pull/730 -->
+    <plugin
+      filename="ignition-gazebo-particle-emitter2-system"
+      name="ignition::gazebo::systems::ParticleEmitter2">
+    </plugin>
+
+    <!-- Uncomment for time analysis -->
+    <!--plugin
+      filename="TimeAnalysisPlugin"
+      name="tethys::TimeAnalysisPlugin">
+    </plugin-->
+
+    <plugin
+      filename="ScienceSensorsSystem"
+      name="tethys::ScienceSensorsSystem">
+      <data_path>2003080103_mb_l3_las.csv</data_path>
+    </plugin>
+
+    <!-- Interface with LRAUV Main Vehicle Application for the world -->
+    <plugin
+      filename="WorldCommPlugin"
+      name="tethys::WorldCommPlugin">
+      <init_topic>/lrauv/init</init_topic>
+    </plugin>
+
+    <gui fullscreen="0">
+
+      <!-- 3D scene -->
+      <plugin filename="MinimalScene" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.4 0.4 0.4</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <!-- looking at robot -->
+        <camera_pose>0 6 6 0 0.5 -1.57</camera_pose>
+        <!-- looking at all science data for 2003080103_mb_l3_las.csv -->
+        <!--camera_pose>-50000 -30000 250000 0 1.1 1.58</camera_pose-->
+        <camera_clip>
+          <!-- ortho view needs low near clip -->
+          <!-- but a very low near clip messes orbit's far clip ?! -->
+          <near>0.1</near>
+          <!-- See 3000 km away -->
+          <far>3000000</far>
+        </camera_clip>
+      </plugin>
+
+      <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <ignition-gui>
+          <property key="state" type="string">floating</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="GzSceneManager" name="Scene Manager">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="CameraTracking" name="Camera Tracking">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="MarkerManager" name="Marker manager">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+        <warn_on_action_failure>false</warn_on_action_failure>
+      </plugin>
+      <plugin filename="SelectEntities" name="Select Entities">
+        <ignition-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+        <ignition-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
+
+      <!-- World control -->
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+      </plugin>
+
+      <!-- World statistics -->
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+
+      <plugin filename="Plot3D" name="Plot 3D">
+        <ignition-gui>
+          <title>Plot Tethys 3D path</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+        <entity_name>tethys</entity_name>
+        <color>0 0 1</color>
+        <maximum_points>10000</maximum_points>
+        <minimum_distance>0.5</minimum_distance>
+      </plugin>
+      <plugin filename="ComponentInspector" name="Component Inspector">
+        <ignition-gui>
+          <title>Inspector</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="PointCloud" name="Visualize science data">
+        <ignition-gui>
+          <title>Visualize science data</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="ViewAngle" name="Camera controls">
+        <ignition-gui>
+          <title>Camera controls</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="GridConfig" name="Grid config">
+        <ignition-gui>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+        <insert>
+          <!-- 300 km x 300 km -->
+          <cell_count>6</cell_count>
+          <vertical_cell_count>0</vertical_cell_count>
+          <!-- 50 km -->
+          <cell_length>50000</cell_length>
+          <pose>0 100000 0  0 0 0.32</pose>
+          <color>0 1 0 1</color>
+        </insert>
+        <insert>
+          <!-- 0.1 km x 0.1 km -->
+          <cell_count>100</cell_count>
+          <vertical_cell_count>0</vertical_cell_count>
+          <!-- 1 m -->
+          <cell_length>1</cell_length>
+          <pose>0 0 0  0 0 0</pose>
+          <color>0.5 0.5 0.5 1</color>
+        </insert>
+      </plugin>
+      <plugin filename="ControlPanelPlugin" name="Tethys Controls">
+        <ignition-gui>
+          <title>Tethys controls</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="ReferenceAxis" name="Reference axis">
+        <ignition-gui>
+          <title>Reference axis</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+        <fsk>tethys</fsk>
+      </plugin>
+    </gui>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+@[for tile in tiles[:18]]@
+    <model name="portuguese_ledge_tile_@(tile.index)">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <heightmap>
+              <pos>@(tile.pos)</pos>
+              <!-- FIXME why doesn't fuel URL work? -->
+              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile@(tile.index)_DecDeg.nc</uri>
+              <size>1000 1000 @(tile.height)</size>
+            </heightmap>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <heightmap>
+              <pos>@(tile.pos)</pos>
+              <use_terrain_paging>true</use_terrain_paging>
+              <texture>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <size>10</size>
+              </texture>
+              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile@(tile.index)_DecDeg.nc</uri>
+              <size>1000 1000 @(tile.height)</size>
+            </heightmap>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+@[end for]@
+
+  </world>
+</sdf>

From 31bf3bd7b2f71516ba35c9553be6a3cba898e516 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 23 Mar 2022 12:13:21 -0700
Subject: [PATCH 3/9] Use world origin spherical coordinates from SDF if set

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 lrauv_ignition_plugins/src/WorldCommPlugin.cc | 13 +++++++++++--
 lrauv_ignition_plugins/src/WorldCommPlugin.hh |  7 +++++--
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/lrauv_ignition_plugins/src/WorldCommPlugin.cc b/lrauv_ignition_plugins/src/WorldCommPlugin.cc
index d81ec38f..147e51b7 100644
--- a/lrauv_ignition_plugins/src/WorldCommPlugin.cc
+++ b/lrauv_ignition_plugins/src/WorldCommPlugin.cc
@@ -105,6 +105,12 @@ void WorldCommPlugin::Configure(
   this->createService = "/world/" + topicWorldName + "/create";
   this->setSphericalCoordsService = "/world/" + topicWorldName
     + "/set_spherical_coordinates";
+
+  // We assume that the world origin spherical coordinates will either be set
+  // through SDF, or through this plugin. This assumption is broken if a user
+  // sets it manually.
+  this->hasWorldLatLon =
+      ignition::gazebo::sphericalCoordinates(worldEntity, _ecm).has_value();
 }
 
 /////////////////////////////////////////////////
@@ -133,7 +139,7 @@ void WorldCommPlugin::SpawnCallback(
   auto ele = -_msg.initz_();
 
   // Center the world around the first vehicle spawned
-  if (this->spawnCount == 0)
+  if (!this->hasWorldLatLon)
   {
     igndbg << "Setting world origin coordinates to latitude [" << lat
            << "], longitude [" << lon << "], elevation [" << ele << "]"
@@ -156,8 +162,11 @@ void WorldCommPlugin::SpawnCallback(
       ignerr << "Failed to request service [" << this->setSphericalCoordsService
              << "]" << std::endl;
     }
+    else
+    {
+      this->hasWorldLatLon = true;
+    }
   }
-  this->spawnCount++;
 
   // Create vehicle
   ignition::msgs::EntityFactory factoryReq;
diff --git a/lrauv_ignition_plugins/src/WorldCommPlugin.hh b/lrauv_ignition_plugins/src/WorldCommPlugin.hh
index 82411953..74147852 100644
--- a/lrauv_ignition_plugins/src/WorldCommPlugin.hh
+++ b/lrauv_ignition_plugins/src/WorldCommPlugin.hh
@@ -36,6 +36,9 @@ namespace tethys
 {
   /// Listens to LRAUVInit messages from the controller to spawn vehicles
   /// into simulation.
+  ///
+  /// If the world origin's spherical coordinates aren't set from SDF, this
+  /// plugin will set them to match the first vehicle spawned.
   class WorldCommPlugin:
     public ignition::gazebo::System,
     public ignition::gazebo::ISystemConfigure
@@ -77,8 +80,8 @@ namespace tethys
     /// Service to create entities
     private: std::string createService;
 
-    /// Count how many vehicles have been spawned
-    private: int spawnCount{0};
+    /// Whether the world origin's latitude and longitude have already been set.
+    private: bool hasWorldLatLon{false};
   };
 }
 

From aba0ee0ab562535e811bc76f81b74fa7c6fcb935 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 23 Mar 2022 16:24:16 -0700
Subject: [PATCH 4/9] levels

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 lrauv_ignition_plugins/src/WorldCommPlugin.cc |  13 ++
 lrauv_ignition_plugins/src/WorldCommPlugin.hh |   3 +
 .../worlds/portuguese_ledge.sdf               | 166 ++++++++++++++++++
 .../worlds/portuguese_ledge.sdf.em            |  15 ++
 4 files changed, 197 insertions(+)

diff --git a/lrauv_ignition_plugins/src/WorldCommPlugin.cc b/lrauv_ignition_plugins/src/WorldCommPlugin.cc
index 147e51b7..95b0d728 100644
--- a/lrauv_ignition_plugins/src/WorldCommPlugin.cc
+++ b/lrauv_ignition_plugins/src/WorldCommPlugin.cc
@@ -103,6 +103,7 @@ void WorldCommPlugin::Configure(
 
   // Services
   this->createService = "/world/" + topicWorldName + "/create";
+  this->performerService = "/world/" + topicWorldName + "/level/set_performer";
   this->setSphericalCoordsService = "/world/" + topicWorldName
     + "/set_spherical_coordinates";
 
@@ -213,6 +214,18 @@ void WorldCommPlugin::SpawnCallback(
     ignerr << "Failed to request service [" << this->createService
            << "]" << std::endl;
   }
+  else
+  {
+    // Make spawned model a performer
+    ignition::msgs::StringMsg performerReq;
+    performerReq.set_data(_msg.id_().data());
+    if (!this->node.Request(this->performerService, performerReq,
+        &WorldCommPlugin::ServiceResponse, this))
+    {
+      ignerr << "Failed to request service [" << this->performerService
+             << "]" << std::endl;
+    }
+  }
 }
 
 /////////////////////////////////////////////////
diff --git a/lrauv_ignition_plugins/src/WorldCommPlugin.hh b/lrauv_ignition_plugins/src/WorldCommPlugin.hh
index 74147852..1eac1138 100644
--- a/lrauv_ignition_plugins/src/WorldCommPlugin.hh
+++ b/lrauv_ignition_plugins/src/WorldCommPlugin.hh
@@ -80,6 +80,9 @@ namespace tethys
     /// Service to create entities
     private: std::string createService;
 
+    /// Service to make spawned entities performers (for levels)
+    private: std::string performerService;
+
     /// Whether the world origin's latitude and longitude have already been set.
     private: bool hasWorldLatLon{false};
   };
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
index 20d0409f..053d10c4 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
@@ -88,6 +88,172 @@
       <init_topic>/lrauv/init</init_topic>
     </plugin>
 
+    <plugin name="ignition::gazebo" filename="dummy">
+
+      <level name="level_1">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_1</ref>
+      </level>
+      <level name="level_2">
+        <pose>-750.151 8.24476 -0.0440663 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_2</ref>
+      </level>
+      <level name="level_3">
+        <pose>-1500.3 16.6662 -0.176266 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_3</ref>
+      </level>
+      <level name="level_4">
+        <pose>-2250.54 24.9313 -0.396628 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_4</ref>
+      </level>
+      <level name="level_5">
+        <pose>-3000.69 33.2621 -0.705101 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_5</ref>
+      </level>
+      <level name="level_6">
+        <pose>-3750.83 41.5476 -1.1017 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_6</ref>
+      </level>
+      <level name="level_7">
+        <pose>8.31046 750.171 -0.0442596 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_7</ref>
+      </level>
+      <level name="level_8">
+        <pose>-741.865 758.415 -0.0883251 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_8</ref>
+      </level>
+      <level name="level_9">
+        <pose>-1492.04 766.835 -0.22055 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_9</ref>
+      </level>
+      <level name="level_10">
+        <pose>-2242.21 775.1 -0.440893 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_10</ref>
+      </level>
+      <level name="level_11">
+        <pose>-2992.38 783.43 -0.749382 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_11</ref>
+      </level>
+      <level name="level_12">
+        <pose>-3742.55 791.715 -1.146 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_12</ref>
+      </level>
+      <level name="level_13">
+        <pose>16.6195 1500.34 -0.177038 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_13</ref>
+      </level>
+      <level name="level_14">
+        <pose>-733.49 1508.59 -0.221093 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_14</ref>
+      </level>
+      <level name="level_15">
+        <pose>-1483.69 1517.01 -0.353332 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_15</ref>
+      </level>
+      <level name="level_16">
+        <pose>-2233.88 1525.27 -0.573678 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_16</ref>
+      </level>
+      <level name="level_17">
+        <pose>-2984.08 1533.6 -0.882182 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_17</ref>
+      </level>
+      <level name="level_18">
+        <pose>-3734.18 1541.88 -1.27876 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_18</ref>
+      </level>
+    </plugin>
+
     <gui fullscreen="0">
 
       <!-- 3D scene -->
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
index bbe1d041..09894af9 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
@@ -138,6 +138,21 @@ for tile in tiles:
       <init_topic>/lrauv/init</init_topic>
     </plugin>
 
+    <plugin name="ignition::gazebo" filename="dummy">
+
+@[for tile in tiles[:18]]@
+      <level name="level_@(tile.index)">
+        <pose>@(tile.pos) 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1000 1000 1000</size>
+          </box>
+        </geometry>
+        <ref>portuguese_ledge_tile_@(tile.index)</ref>
+      </level>
+@[end for]@
+    </plugin>
+
     <gui fullscreen="0">
 
       <!-- 3D scene -->

From 9ca7d7f8815f8d63a3ab0eadd6227b500a80a6f9 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 30 Mar 2022 14:45:44 -0700
Subject: [PATCH 5/9] Use Fuel URLs

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .../worlds/portuguese_ledge.sdf               | 126 ++++++------------
 .../worlds/portuguese_ledge.sdf.em            |  42 ++----
 2 files changed, 52 insertions(+), 116 deletions(-)

diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
index 053d10c4..e7da1252 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
@@ -12,6 +12,8 @@
 -->
 
 <!--
+   Tile heights calculated manually with
+
    $ gdalinfo -mm PortugueseLedgeTile1_DecDeg.grd | grep -i min
    Computed Min/Max=-98.637,-73.297
  -->
@@ -61,27 +63,11 @@
       <uniform_fluid_density>1025</uniform_fluid_density>
     </plugin>
 
-    <!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
-      to ParticleEmitter in Ignition G.
-      See https://github.com/ignitionrobotics/ign-gazebo/pull/730 -->
     <plugin
       filename="ignition-gazebo-particle-emitter2-system"
       name="ignition::gazebo::systems::ParticleEmitter2">
     </plugin>
 
-    <!-- Uncomment for time analysis -->
-    <!--plugin
-      filename="TimeAnalysisPlugin"
-      name="tethys::TimeAnalysisPlugin">
-    </plugin-->
-
-    <plugin
-      filename="ScienceSensorsSystem"
-      name="tethys::ScienceSensorsSystem">
-      <data_path>2003080103_mb_l3_las.csv</data_path>
-    </plugin>
-
-    <!-- Interface with LRAUV Main Vehicle Application for the world -->
     <plugin
       filename="WorldCommPlugin"
       name="tethys::WorldCommPlugin">
@@ -502,9 +488,7 @@
           <geometry>
             <heightmap>
               <pos>0 0 0</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
               <size>1000 1000 25.34</size>
             </heightmap>
           </geometry>
@@ -519,7 +503,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
               <size>1000 1000 25.34</size>
             </heightmap>
           </geometry>
@@ -533,9 +517,7 @@
           <geometry>
             <heightmap>
               <pos>-750.151 8.24476 -0.0440663</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
               <size>1000 1000 27.094</size>
             </heightmap>
           </geometry>
@@ -550,7 +532,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
               <size>1000 1000 27.094</size>
             </heightmap>
           </geometry>
@@ -564,9 +546,7 @@
           <geometry>
             <heightmap>
               <pos>-1500.3 16.6662 -0.176266</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
               <size>1000 1000 11.602</size>
             </heightmap>
           </geometry>
@@ -581,7 +561,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
               <size>1000 1000 11.602</size>
             </heightmap>
           </geometry>
@@ -595,9 +575,7 @@
           <geometry>
             <heightmap>
               <pos>-2250.54 24.9313 -0.396628</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
               <size>1000 1000 6.781</size>
             </heightmap>
           </geometry>
@@ -612,7 +590,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
               <size>1000 1000 6.781</size>
             </heightmap>
           </geometry>
@@ -626,9 +604,7 @@
           <geometry>
             <heightmap>
               <pos>-3000.69 33.2621 -0.705101</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
               <size>1000 1000 6.689</size>
             </heightmap>
           </geometry>
@@ -643,7 +619,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
               <size>1000 1000 6.689</size>
             </heightmap>
           </geometry>
@@ -657,9 +633,7 @@
           <geometry>
             <heightmap>
               <pos>-3750.83 41.5476 -1.1017</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
               <size>1000 1000 30.707</size>
             </heightmap>
           </geometry>
@@ -674,7 +648,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
               <size>1000 1000 30.707</size>
             </heightmap>
           </geometry>
@@ -688,9 +662,7 @@
           <geometry>
             <heightmap>
               <pos>8.31046 750.171 -0.0442596</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
               <size>1000 1000 20.746</size>
             </heightmap>
           </geometry>
@@ -705,7 +677,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
               <size>1000 1000 20.746</size>
             </heightmap>
           </geometry>
@@ -719,9 +691,7 @@
           <geometry>
             <heightmap>
               <pos>-741.865 758.415 -0.0883251</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
               <size>1000 1000 29.343</size>
             </heightmap>
           </geometry>
@@ -736,7 +706,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
               <size>1000 1000 29.343</size>
             </heightmap>
           </geometry>
@@ -750,9 +720,7 @@
           <geometry>
             <heightmap>
               <pos>-1492.04 766.835 -0.22055</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
               <size>1000 1000 6.851</size>
             </heightmap>
           </geometry>
@@ -767,7 +735,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
               <size>1000 1000 6.851</size>
             </heightmap>
           </geometry>
@@ -781,9 +749,7 @@
           <geometry>
             <heightmap>
               <pos>-2242.21 775.1 -0.440893</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
               <size>1000 1000 6.462</size>
             </heightmap>
           </geometry>
@@ -798,7 +764,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
               <size>1000 1000 6.462</size>
             </heightmap>
           </geometry>
@@ -812,9 +778,7 @@
           <geometry>
             <heightmap>
               <pos>-2992.38 783.43 -0.749382</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
               <size>1000 1000 29.339</size>
             </heightmap>
           </geometry>
@@ -829,7 +793,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
               <size>1000 1000 29.339</size>
             </heightmap>
           </geometry>
@@ -843,9 +807,7 @@
           <geometry>
             <heightmap>
               <pos>-3742.55 791.715 -1.146</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
               <size>1000 1000 148.439</size>
             </heightmap>
           </geometry>
@@ -860,7 +822,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
               <size>1000 1000 148.439</size>
             </heightmap>
           </geometry>
@@ -874,9 +836,7 @@
           <geometry>
             <heightmap>
               <pos>16.6195 1500.34 -0.177038</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
               <size>1000 1000 6.799</size>
             </heightmap>
           </geometry>
@@ -891,7 +851,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
               <size>1000 1000 6.799</size>
             </heightmap>
           </geometry>
@@ -905,9 +865,7 @@
           <geometry>
             <heightmap>
               <pos>-733.49 1508.59 -0.221093</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
               <size>1000 1000 6.814</size>
             </heightmap>
           </geometry>
@@ -922,7 +880,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
               <size>1000 1000 6.814</size>
             </heightmap>
           </geometry>
@@ -936,9 +894,7 @@
           <geometry>
             <heightmap>
               <pos>-1483.69 1517.01 -0.353332</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
               <size>1000 1000 8.834</size>
             </heightmap>
           </geometry>
@@ -953,7 +909,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
               <size>1000 1000 8.834</size>
             </heightmap>
           </geometry>
@@ -967,9 +923,7 @@
           <geometry>
             <heightmap>
               <pos>-2233.88 1525.27 -0.573678</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
               <size>1000 1000 11.934</size>
             </heightmap>
           </geometry>
@@ -984,7 +938,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
               <size>1000 1000 11.934</size>
             </heightmap>
           </geometry>
@@ -998,9 +952,7 @@
           <geometry>
             <heightmap>
               <pos>-2984.08 1533.6 -0.882182</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
               <size>1000 1000 75.378</size>
             </heightmap>
           </geometry>
@@ -1015,7 +967,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
               <size>1000 1000 75.378</size>
             </heightmap>
           </geometry>
@@ -1029,9 +981,7 @@
           <geometry>
             <heightmap>
               <pos>-3734.18 1541.88 -1.27876</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
               <size>1000 1000 229.765</size>
             </heightmap>
           </geometry>
@@ -1046,7 +996,7 @@
                 <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
               <size>1000 1000 229.765</size>
             </heightmap>
           </geometry>
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
index 09894af9..8af57900 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
@@ -12,6 +12,8 @@
 -->
 
 <!--
+   Tile heights calculated manually with
+
    $ gdalinfo -mm PortugueseLedgeTile1_DecDeg.grd | grep -i min
    Computed Min/Max=-98.637,-73.297
  -->
@@ -22,13 +24,15 @@ import math
 from dataclasses import dataclass
 from ignition.math import SphericalCoordinates, Vector3d, Angle
 
+fuel_model_url = "https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge"
+
 @dataclass
 class Tile:
     index: int
     lat_deg: float
     lon_deg: float
     height: float
-    pos: Vector3d = Vector3d()
+    pos_enu: Vector3d = Vector3d()
 
 # Center of all 18 tiles in degrees
 tiles = [
@@ -63,7 +67,7 @@ for tile in tiles:
     pos_enu = sc.position_transform(vec,
         SphericalCoordinates.SPHERICAL,
         SphericalCoordinates.LOCAL2)
-    tile.pos = pos_enu
+    tile.pos_enu = pos_enu
 
 }@
 
@@ -111,27 +115,11 @@ for tile in tiles:
       <uniform_fluid_density>1025</uniform_fluid_density>
     </plugin>
 
-    <!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
-      to ParticleEmitter in Ignition G.
-      See https://github.com/ignitionrobotics/ign-gazebo/pull/730 -->
     <plugin
       filename="ignition-gazebo-particle-emitter2-system"
       name="ignition::gazebo::systems::ParticleEmitter2">
     </plugin>
 
-    <!-- Uncomment for time analysis -->
-    <!--plugin
-      filename="TimeAnalysisPlugin"
-      name="tethys::TimeAnalysisPlugin">
-    </plugin-->
-
-    <plugin
-      filename="ScienceSensorsSystem"
-      name="tethys::ScienceSensorsSystem">
-      <data_path>2003080103_mb_l3_las.csv</data_path>
-    </plugin>
-
-    <!-- Interface with LRAUV Main Vehicle Application for the world -->
     <plugin
       filename="WorldCommPlugin"
       name="tethys::WorldCommPlugin">
@@ -140,9 +128,9 @@ for tile in tiles:
 
     <plugin name="ignition::gazebo" filename="dummy">
 
-@[for tile in tiles[:18]]@
+@[for tile in tiles]@
       <level name="level_@(tile.index)">
-        <pose>@(tile.pos) 0 0 0</pose>
+        <pose>@(tile.pos_enu) 0 0 0</pose>
         <geometry>
           <box>
             <size>1000 1000 1000</size>
@@ -401,10 +389,8 @@ for tile in tiles:
         <collision name="collision">
           <geometry>
             <heightmap>
-              <pos>@(tile.pos)</pos>
-              <!-- FIXME why doesn't fuel URL work? -->
-              <!--uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri-->
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile@(tile.index)_DecDeg.nc</uri>
+              <pos>@(tile.pos_enu)</pos>
+              <uri>@(fuel_model_url)/tip/files/meshes/PortugueseLedgeTile@(tile.index)_DecDeg.nc</uri>
               <size>1000 1000 @(tile.height)</size>
             </heightmap>
           </geometry>
@@ -412,14 +398,14 @@ for tile in tiles:
         <visual name="visual">
           <geometry>
             <heightmap>
-              <pos>@(tile.pos)</pos>
+              <pos>@(tile.pos_enu)</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>@(fuel_model_url)/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>@(fuel_model_url)/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/chapulina/models/portuguese ledge/1/meshes/PortugueseLedgeTile@(tile.index)_DecDeg.nc</uri>
+              <uri>@(fuel_model_url)/tip/files/meshes/PortugueseLedgeTile@(tile.index)_DecDeg.nc</uri>
               <size>1000 1000 @(tile.height)</size>
             </heightmap>
           </geometry>

From f22e8ed8279ac022942c34fcf69b0c03ec8969cc Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 30 Mar 2022 15:50:18 -0700
Subject: [PATCH 6/9] Remove collisions for now, add instructions

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 README.md                                     | 21 +++++
 .../worlds/portuguese_ledge.sdf               | 90 +++++++++++--------
 .../worlds/portuguese_ledge.sdf.em            |  5 +-
 3 files changed, 78 insertions(+), 38 deletions(-)

diff --git a/README.md b/README.md
index f408d350..22db47d0 100644
--- a/README.md
+++ b/README.md
@@ -490,6 +490,27 @@ for example:
 1. `~/lrauv_ws/src/lrauv-application-2/bin/LRAUV`
 1. Start more `bin/LRAUV` as needed
 
+## Levels
+
+Some worlds support [levels](https://ignitionrobotics.org/api/gazebo/6.7/levels.html).
+Levels are turned off by default, which means that all heightmap tiles will
+be loaded at all times. When levels are enabled, only the tiles containing
+vehicles (performers) spawned with `WorldCommPlugin` with an
+[lrauv_init](https://github.com/osrf/lrauv/blob/main/lrauv_ignition_plugins/proto/lrauv_init.proto)
+message will be loaded.
+
+For example, loading without levels:
+
+`ign gazebo -v 4 portuguese_ledge.sdf`
+
+![portuguese_ledge_no_levels](https://user-images.githubusercontent.com/5751272/159629754-9206a9fe-eeed-4afc-a516-5c25a9fbdaf6.png)
+
+And with levels:
+
+`ign gazebo -v 4 portuguese_ledge.sdf --levels`
+
+![portuguese_ledge_no_levels](https://user-images.githubusercontent.com/5751272/159813230-809d1cad-b3f5-457a-af19-3752bec0710f.gif)
+
 ### Troubleshoot
 
 After issuing control commands, for example, rudder and thrust, if you then
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
index e7da1252..a8d45e83 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
@@ -484,7 +484,8 @@
     <model name="portuguese_ledge_tile_1">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>0 0 0</pos>
@@ -492,7 +493,7 @@
               <size>1000 1000 25.34</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -513,7 +514,8 @@
     <model name="portuguese_ledge_tile_2">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-750.151 8.24476 -0.0440663</pos>
@@ -521,7 +523,7 @@
               <size>1000 1000 27.094</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -542,7 +544,8 @@
     <model name="portuguese_ledge_tile_3">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-1500.3 16.6662 -0.176266</pos>
@@ -550,7 +553,7 @@
               <size>1000 1000 11.602</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -571,7 +574,8 @@
     <model name="portuguese_ledge_tile_4">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-2250.54 24.9313 -0.396628</pos>
@@ -579,7 +583,7 @@
               <size>1000 1000 6.781</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -600,7 +604,8 @@
     <model name="portuguese_ledge_tile_5">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-3000.69 33.2621 -0.705101</pos>
@@ -608,7 +613,7 @@
               <size>1000 1000 6.689</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -629,7 +634,8 @@
     <model name="portuguese_ledge_tile_6">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-3750.83 41.5476 -1.1017</pos>
@@ -637,7 +643,7 @@
               <size>1000 1000 30.707</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -658,7 +664,8 @@
     <model name="portuguese_ledge_tile_7">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>8.31046 750.171 -0.0442596</pos>
@@ -666,7 +673,7 @@
               <size>1000 1000 20.746</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -687,7 +694,8 @@
     <model name="portuguese_ledge_tile_8">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-741.865 758.415 -0.0883251</pos>
@@ -695,7 +703,7 @@
               <size>1000 1000 29.343</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -716,7 +724,8 @@
     <model name="portuguese_ledge_tile_9">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-1492.04 766.835 -0.22055</pos>
@@ -724,7 +733,7 @@
               <size>1000 1000 6.851</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -745,7 +754,8 @@
     <model name="portuguese_ledge_tile_10">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-2242.21 775.1 -0.440893</pos>
@@ -753,7 +763,7 @@
               <size>1000 1000 6.462</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -774,7 +784,8 @@
     <model name="portuguese_ledge_tile_11">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-2992.38 783.43 -0.749382</pos>
@@ -782,7 +793,7 @@
               <size>1000 1000 29.339</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -803,7 +814,8 @@
     <model name="portuguese_ledge_tile_12">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-3742.55 791.715 -1.146</pos>
@@ -811,7 +823,7 @@
               <size>1000 1000 148.439</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -832,7 +844,8 @@
     <model name="portuguese_ledge_tile_13">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>16.6195 1500.34 -0.177038</pos>
@@ -840,7 +853,7 @@
               <size>1000 1000 6.799</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -861,7 +874,8 @@
     <model name="portuguese_ledge_tile_14">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-733.49 1508.59 -0.221093</pos>
@@ -869,7 +883,7 @@
               <size>1000 1000 6.814</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -890,7 +904,8 @@
     <model name="portuguese_ledge_tile_15">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-1483.69 1517.01 -0.353332</pos>
@@ -898,7 +913,7 @@
               <size>1000 1000 8.834</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -919,7 +934,8 @@
     <model name="portuguese_ledge_tile_16">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-2233.88 1525.27 -0.573678</pos>
@@ -927,7 +943,7 @@
               <size>1000 1000 11.934</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -948,7 +964,8 @@
     <model name="portuguese_ledge_tile_17">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-2984.08 1533.6 -0.882182</pos>
@@ -956,7 +973,7 @@
               <size>1000 1000 75.378</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
@@ -977,7 +994,8 @@
     <model name="portuguese_ledge_tile_18">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>-3734.18 1541.88 -1.27876</pos>
@@ -985,7 +1003,7 @@
               <size>1000 1000 229.765</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
index 8af57900..a48a57cd 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
@@ -386,7 +386,8 @@ for tile in tiles:
     <model name="portuguese_ledge_tile_@(tile.index)">
       <static>true</static>
       <link name="link">
-        <collision name="collision">
+        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
+        <!--collision name="collision">
           <geometry>
             <heightmap>
               <pos>@(tile.pos_enu)</pos>
@@ -394,7 +395,7 @@ for tile in tiles:
               <size>1000 1000 @(tile.height)</size>
             </heightmap>
           </geometry>
-        </collision>
+        </collision-->
         <visual name="visual">
           <geometry>
             <heightmap>

From b2ad67b597079f13f6e208b4fb68035cf8ec43df Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 30 Mar 2022 16:07:00 -0700
Subject: [PATCH 7/9] New owner, instructions

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 README.md                                     |  18 +++
 .../worlds/portuguese_ledge.py                |   8 +-
 .../worlds/portuguese_ledge.sdf               | 144 +++++++++---------
 .../worlds/portuguese_ledge.sdf.em            |   2 +-
 4 files changed, 97 insertions(+), 75 deletions(-)

diff --git a/README.md b/README.md
index 22db47d0..12ec7c42 100644
--- a/README.md
+++ b/README.md
@@ -511,6 +511,24 @@ And with levels:
 
 ![portuguese_ledge_no_levels](https://user-images.githubusercontent.com/5751272/159813230-809d1cad-b3f5-457a-af19-3752bec0710f.gif)
 
+#### Generating Portuguese Ledge world
+
+The generated file is committed to the repository. Whenever it is changed, a
+manual step is needed to regenerate it.
+
+Pre-requisites:
+
+```
+sudo apt install python3-empy
+```
+
+Generate:
+
+```
+cd lrauv_ignition_plugins/worlds
+python3 portuguese_ledge.py
+```
+
 ### Troubleshoot
 
 After issuing control commands, for example, rudder and thrust, if you then
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.py b/lrauv_ignition_plugins/worlds/portuguese_ledge.py
index 6e72fe4f..bf5a7784 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.py
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.py
@@ -1,12 +1,16 @@
+# Takes in a template and generates an SDF file.
+
 import em
 import os
 import sys
 
 def main():
-    template = open('portuguese_ledge.sdf.em').read()
+    in_file = 'portuguese_ledge.sdf.em'
+    out_file = 'portuguese_ledge.sdf'
+    template = open(in_file).read()
     arguments = {}
     result = em.expand(template, arguments)
-    with open(os.path.join('portuguese_ledge.sdf'), 'w') as outfile:
+    with open(os.path.join(out_file), 'w') as outfile:
         outfile.write(result)
 
 if __name__ == '__main__':
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
index a8d45e83..14e3d4ad 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
@@ -489,7 +489,7 @@
           <geometry>
             <heightmap>
               <pos>0 0 0</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
               <size>1000 1000 25.34</size>
             </heightmap>
           </geometry>
@@ -500,11 +500,11 @@
               <pos>0 0 0</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
               <size>1000 1000 25.34</size>
             </heightmap>
           </geometry>
@@ -519,7 +519,7 @@
           <geometry>
             <heightmap>
               <pos>-750.151 8.24476 -0.0440663</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
               <size>1000 1000 27.094</size>
             </heightmap>
           </geometry>
@@ -530,11 +530,11 @@
               <pos>-750.151 8.24476 -0.0440663</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
               <size>1000 1000 27.094</size>
             </heightmap>
           </geometry>
@@ -549,7 +549,7 @@
           <geometry>
             <heightmap>
               <pos>-1500.3 16.6662 -0.176266</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
               <size>1000 1000 11.602</size>
             </heightmap>
           </geometry>
@@ -560,11 +560,11 @@
               <pos>-1500.3 16.6662 -0.176266</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
               <size>1000 1000 11.602</size>
             </heightmap>
           </geometry>
@@ -579,7 +579,7 @@
           <geometry>
             <heightmap>
               <pos>-2250.54 24.9313 -0.396628</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
               <size>1000 1000 6.781</size>
             </heightmap>
           </geometry>
@@ -590,11 +590,11 @@
               <pos>-2250.54 24.9313 -0.396628</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
               <size>1000 1000 6.781</size>
             </heightmap>
           </geometry>
@@ -609,7 +609,7 @@
           <geometry>
             <heightmap>
               <pos>-3000.69 33.2621 -0.705101</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
               <size>1000 1000 6.689</size>
             </heightmap>
           </geometry>
@@ -620,11 +620,11 @@
               <pos>-3000.69 33.2621 -0.705101</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile5_DecDeg.nc</uri>
               <size>1000 1000 6.689</size>
             </heightmap>
           </geometry>
@@ -639,7 +639,7 @@
           <geometry>
             <heightmap>
               <pos>-3750.83 41.5476 -1.1017</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
               <size>1000 1000 30.707</size>
             </heightmap>
           </geometry>
@@ -650,11 +650,11 @@
               <pos>-3750.83 41.5476 -1.1017</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile6_DecDeg.nc</uri>
               <size>1000 1000 30.707</size>
             </heightmap>
           </geometry>
@@ -669,7 +669,7 @@
           <geometry>
             <heightmap>
               <pos>8.31046 750.171 -0.0442596</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
               <size>1000 1000 20.746</size>
             </heightmap>
           </geometry>
@@ -680,11 +680,11 @@
               <pos>8.31046 750.171 -0.0442596</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile7_DecDeg.nc</uri>
               <size>1000 1000 20.746</size>
             </heightmap>
           </geometry>
@@ -699,7 +699,7 @@
           <geometry>
             <heightmap>
               <pos>-741.865 758.415 -0.0883251</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
               <size>1000 1000 29.343</size>
             </heightmap>
           </geometry>
@@ -710,11 +710,11 @@
               <pos>-741.865 758.415 -0.0883251</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile8_DecDeg.nc</uri>
               <size>1000 1000 29.343</size>
             </heightmap>
           </geometry>
@@ -729,7 +729,7 @@
           <geometry>
             <heightmap>
               <pos>-1492.04 766.835 -0.22055</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
               <size>1000 1000 6.851</size>
             </heightmap>
           </geometry>
@@ -740,11 +740,11 @@
               <pos>-1492.04 766.835 -0.22055</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile9_DecDeg.nc</uri>
               <size>1000 1000 6.851</size>
             </heightmap>
           </geometry>
@@ -759,7 +759,7 @@
           <geometry>
             <heightmap>
               <pos>-2242.21 775.1 -0.440893</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
               <size>1000 1000 6.462</size>
             </heightmap>
           </geometry>
@@ -770,11 +770,11 @@
               <pos>-2242.21 775.1 -0.440893</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile10_DecDeg.nc</uri>
               <size>1000 1000 6.462</size>
             </heightmap>
           </geometry>
@@ -789,7 +789,7 @@
           <geometry>
             <heightmap>
               <pos>-2992.38 783.43 -0.749382</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
               <size>1000 1000 29.339</size>
             </heightmap>
           </geometry>
@@ -800,11 +800,11 @@
               <pos>-2992.38 783.43 -0.749382</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile11_DecDeg.nc</uri>
               <size>1000 1000 29.339</size>
             </heightmap>
           </geometry>
@@ -819,7 +819,7 @@
           <geometry>
             <heightmap>
               <pos>-3742.55 791.715 -1.146</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
               <size>1000 1000 148.439</size>
             </heightmap>
           </geometry>
@@ -830,11 +830,11 @@
               <pos>-3742.55 791.715 -1.146</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile12_DecDeg.nc</uri>
               <size>1000 1000 148.439</size>
             </heightmap>
           </geometry>
@@ -849,7 +849,7 @@
           <geometry>
             <heightmap>
               <pos>16.6195 1500.34 -0.177038</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
               <size>1000 1000 6.799</size>
             </heightmap>
           </geometry>
@@ -860,11 +860,11 @@
               <pos>16.6195 1500.34 -0.177038</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile13_DecDeg.nc</uri>
               <size>1000 1000 6.799</size>
             </heightmap>
           </geometry>
@@ -879,7 +879,7 @@
           <geometry>
             <heightmap>
               <pos>-733.49 1508.59 -0.221093</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
               <size>1000 1000 6.814</size>
             </heightmap>
           </geometry>
@@ -890,11 +890,11 @@
               <pos>-733.49 1508.59 -0.221093</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile14_DecDeg.nc</uri>
               <size>1000 1000 6.814</size>
             </heightmap>
           </geometry>
@@ -909,7 +909,7 @@
           <geometry>
             <heightmap>
               <pos>-1483.69 1517.01 -0.353332</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
               <size>1000 1000 8.834</size>
             </heightmap>
           </geometry>
@@ -920,11 +920,11 @@
               <pos>-1483.69 1517.01 -0.353332</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc</uri>
               <size>1000 1000 8.834</size>
             </heightmap>
           </geometry>
@@ -939,7 +939,7 @@
           <geometry>
             <heightmap>
               <pos>-2233.88 1525.27 -0.573678</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
               <size>1000 1000 11.934</size>
             </heightmap>
           </geometry>
@@ -950,11 +950,11 @@
               <pos>-2233.88 1525.27 -0.573678</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile16_DecDeg.nc</uri>
               <size>1000 1000 11.934</size>
             </heightmap>
           </geometry>
@@ -969,7 +969,7 @@
           <geometry>
             <heightmap>
               <pos>-2984.08 1533.6 -0.882182</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
               <size>1000 1000 75.378</size>
             </heightmap>
           </geometry>
@@ -980,11 +980,11 @@
               <pos>-2984.08 1533.6 -0.882182</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile17_DecDeg.nc</uri>
               <size>1000 1000 75.378</size>
             </heightmap>
           </geometry>
@@ -999,7 +999,7 @@
           <geometry>
             <heightmap>
               <pos>-3734.18 1541.88 -1.27876</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
               <size>1000 1000 229.765</size>
             </heightmap>
           </geometry>
@@ -1010,11 +1010,11 @@
               <pos>-3734.18 1541.88 -1.27876</pos>
               <use_terrain_paging>true</use_terrain_paging>
               <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
+                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
                 <size>10</size>
               </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile18_DecDeg.nc</uri>
               <size>1000 1000 229.765</size>
             </heightmap>
           </geometry>
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
index a48a57cd..f5a26e84 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
@@ -24,7 +24,7 @@ import math
 from dataclasses import dataclass
 from ignition.math import SphericalCoordinates, Vector3d, Angle
 
-fuel_model_url = "https://fuel.ignitionrobotics.org/1.0/chapulina/models/Portuguese Ledge"
+fuel_model_url = "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge"
 
 @dataclass
 class Tile:

From 9a11eeed6615f55e69f671046de8d0f27ce0a0c7 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Thu, 7 Apr 2022 18:31:55 -0700
Subject: [PATCH 8/9] Address feedback

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 README.md                                     | 18 ----------------
 docker/debug_integration/Dockerfile           |  3 ++-
 docker/empty_world/Dockerfile                 |  1 -
 docker/tests/Dockerfile                       |  1 +
 lrauv_ignition_plugins/CMakeLists.txt         | 14 +++++++++++++
 .../worlds/empy_expander.py                   | 21 +++++++++++++++++++
 .../worlds/portuguese_ledge.py                | 17 ---------------
 .../worlds/portuguese_ledge.sdf.em            |  2 +-
 8 files changed, 39 insertions(+), 38 deletions(-)
 create mode 100644 lrauv_ignition_plugins/worlds/empy_expander.py
 delete mode 100644 lrauv_ignition_plugins/worlds/portuguese_ledge.py

diff --git a/README.md b/README.md
index 12ec7c42..22db47d0 100644
--- a/README.md
+++ b/README.md
@@ -511,24 +511,6 @@ And with levels:
 
 ![portuguese_ledge_no_levels](https://user-images.githubusercontent.com/5751272/159813230-809d1cad-b3f5-457a-af19-3752bec0710f.gif)
 
-#### Generating Portuguese Ledge world
-
-The generated file is committed to the repository. Whenever it is changed, a
-manual step is needed to regenerate it.
-
-Pre-requisites:
-
-```
-sudo apt install python3-empy
-```
-
-Generate:
-
-```
-cd lrauv_ignition_plugins/worlds
-python3 portuguese_ledge.py
-```
-
 ### Troubleshoot
 
 After issuing control commands, for example, rudder and thrust, if you then
diff --git a/docker/debug_integration/Dockerfile b/docker/debug_integration/Dockerfile
index 48db9980..14c29ede 100644
--- a/docker/debug_integration/Dockerfile
+++ b/docker/debug_integration/Dockerfile
@@ -38,6 +38,7 @@ RUN apt-get update \
         lsb-release \
         tzdata \
         wget \
+        python3-empy \
         python3-numpy
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
@@ -47,7 +48,7 @@ RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable
 
 # Install the latest Ignition binaries
 RUN apt-get -qq update && apt-get -q -y install \
-  ignition-garden python3-numpy
+  ignition-garden
 
 # Install PCL
 RUN apt-get update \
diff --git a/docker/empty_world/Dockerfile b/docker/empty_world/Dockerfile
index 9c20343d..d678b573 100644
--- a/docker/empty_world/Dockerfile
+++ b/docker/empty_world/Dockerfile
@@ -48,7 +48,6 @@ RUN apt-get update \
         software-properties-common \
         sudo \
         vim \
-        python3-numpy \
  && apt-get clean
 
 # setup timezone
diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile
index cb649d94..46200b61 100644
--- a/docker/tests/Dockerfile
+++ b/docker/tests/Dockerfile
@@ -38,6 +38,7 @@ RUN apt-get update \
         lsb-release \
         tzdata \
         wget \
+        python3-empy \
         python3-numpy
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
diff --git a/lrauv_ignition_plugins/CMakeLists.txt b/lrauv_ignition_plugins/CMakeLists.txt
index b7bccf92..b1aa9a54 100644
--- a/lrauv_ignition_plugins/CMakeLists.txt
+++ b/lrauv_ignition_plugins/CMakeLists.txt
@@ -236,6 +236,20 @@ configure_file(
   "${CMAKE_CURRENT_BINARY_DIR}/hooks/hook.dsv" @ONLY
 )
 
+#============================================================================
+# World generation
+set(WORLD_NAME "portuguese_ledge")
+add_custom_command(
+  OUTPUT world_gen_cmd
+  COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/worlds/empy_expander.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/worlds/${WORLD_NAME}.sdf.em
+  ${CMAKE_CURRENT_BINARY_DIR}/worlds/${WORLD_NAME}.sdf
+)
+
+add_custom_target(world_gen_target ALL
+  DEPENDS world_gen_cmd
+)
+
 #============================================================================
 # Tests
 if(BUILD_TESTING)
diff --git a/lrauv_ignition_plugins/worlds/empy_expander.py b/lrauv_ignition_plugins/worlds/empy_expander.py
new file mode 100644
index 00000000..c252dede
--- /dev/null
+++ b/lrauv_ignition_plugins/worlds/empy_expander.py
@@ -0,0 +1,21 @@
+# Takes in a template and generates an SDF file.
+
+import em
+import os
+import sys
+
+def main(in_file, out_file):
+    with open(in_file) as infile:
+        template = infile.read()
+    result = em.expand(template, {})
+    os.makedirs(os.path.dirname(out_file), exist_ok=True)
+    with open(out_file, 'w') as outfile:
+        outfile.write(result)
+
+if __name__ == '__main__':
+    if len(sys.argv) != 3:
+        print("Usage:")
+        print("empy_expander.py <infile> <outfile>")
+        exit(-100)
+
+    sys.exit(main(sys.argv[1], sys.argv[2]))
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.py b/lrauv_ignition_plugins/worlds/portuguese_ledge.py
deleted file mode 100644
index bf5a7784..00000000
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.py
+++ /dev/null
@@ -1,17 +0,0 @@
-# Takes in a template and generates an SDF file.
-
-import em
-import os
-import sys
-
-def main():
-    in_file = 'portuguese_ledge.sdf.em'
-    out_file = 'portuguese_ledge.sdf'
-    template = open(in_file).read()
-    arguments = {}
-    result = em.expand(template, arguments)
-    with open(os.path.join(out_file), 'w') as outfile:
-        outfile.write(result)
-
-if __name__ == '__main__':
-    sys.exit(main())
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
index f5a26e84..ef115050 100644
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
+++ b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em
@@ -382,7 +382,7 @@ for tile in tiles:
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
-@[for tile in tiles[:18]]@
+@[for tile in tiles]@
     <model name="portuguese_ledge_tile_@(tile.index)">
       <static>true</static>
       <link name="link">

From 368d0c52760b14ca287e3561a5f52acc310989da Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Tue, 12 Apr 2022 10:09:01 -0700
Subject: [PATCH 9/9] PR feedback

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .../worlds/empy_expander.py                   |   23 +-
 .../worlds/portuguese_ledge.sdf               | 1026 -----------------
 2 files changed, 12 insertions(+), 1037 deletions(-)
 delete mode 100644 lrauv_ignition_plugins/worlds/portuguese_ledge.sdf

diff --git a/lrauv_ignition_plugins/worlds/empy_expander.py b/lrauv_ignition_plugins/worlds/empy_expander.py
index c252dede..df384080 100644
--- a/lrauv_ignition_plugins/worlds/empy_expander.py
+++ b/lrauv_ignition_plugins/worlds/empy_expander.py
@@ -1,21 +1,22 @@
-# Takes in a template and generates an SDF file.
+# Takes in a template and generates a file.
 
+import argparse
 import em
 import os
 import sys
 
-def main(in_file, out_file):
-    with open(in_file) as infile:
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser()
+    parser.add_argument('infile', help='Full path to input template.')
+    parser.add_argument('outfile', help='Full path to output file.')
+    args = parser.parse_args()
+
+    with open(args.infile) as infile:
         template = infile.read()
     result = em.expand(template, {})
-    os.makedirs(os.path.dirname(out_file), exist_ok=True)
-    with open(out_file, 'w') as outfile:
+    os.makedirs(os.path.dirname(args.outfile), exist_ok=True)
+    with open(args.outfile, 'w') as outfile:
         outfile.write(result)
 
 if __name__ == '__main__':
-    if len(sys.argv) != 3:
-        print("Usage:")
-        print("empy_expander.py <infile> <outfile>")
-        exit(-100)
-
-    sys.exit(main(sys.argv[1], sys.argv[2]))
+    sys.exit(main())
diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf b/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
deleted file mode 100644
index 14e3d4ad..00000000
--- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf
+++ /dev/null
@@ -1,1026 +0,0 @@
-<?xml version="1.0" ?>
-<!--
-  Development of this module has been funded by the Monterey Bay Aquarium
-  Research Institute (MBARI) and the David and Lucile Packard Foundation
--->
-
-<!--
-
-  This world doesn't contain any vehicles. They're spawned at runtime by
-  WorldCommPlugin as it receives LRAUVInit messages.
-
--->
-
-<!--
-   Tile heights calculated manually with
-
-   $ gdalinfo -mm PortugueseLedgeTile1_DecDeg.grd | grep -i min
-   Computed Min/Max=-98.637,-73.297
- -->
-
-
-<sdf version="1.6">
-  <world name="LRAUV">
-    <scene>
-      <ambient>0.0 1.0 1.0</ambient>
-      <background>0.0 0.7 0.8</background>
-
-      <grid>false</grid>
-    </scene>
-
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-
-      <!-- Center of Tile 1 -->
-      <latitude_deg>36.693509</latitude_deg>
-      <longitude_deg>-121.936568</longitude_deg>
-
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
-    </spherical_coordinates>
-
-    <physics name="1ms" type="dart">
-      <max_step_size>0.02</max_step_size>
-      <real_time_factor>0</real_time_factor>
-    </physics>
-    <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
-    </plugin>
-    <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
-    </plugin>
-    <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
-    </plugin>
-
-    <plugin
-      filename="ignition-gazebo-buoyancy-system"
-      name="ignition::gazebo::systems::Buoyancy">
-      <uniform_fluid_density>1025</uniform_fluid_density>
-    </plugin>
-
-    <plugin
-      filename="ignition-gazebo-particle-emitter2-system"
-      name="ignition::gazebo::systems::ParticleEmitter2">
-    </plugin>
-
-    <plugin
-      filename="WorldCommPlugin"
-      name="tethys::WorldCommPlugin">
-      <init_topic>/lrauv/init</init_topic>
-    </plugin>
-
-    <plugin name="ignition::gazebo" filename="dummy">
-
-      <level name="level_1">
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_1</ref>
-      </level>
-      <level name="level_2">
-        <pose>-750.151 8.24476 -0.0440663 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_2</ref>
-      </level>
-      <level name="level_3">
-        <pose>-1500.3 16.6662 -0.176266 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_3</ref>
-      </level>
-      <level name="level_4">
-        <pose>-2250.54 24.9313 -0.396628 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_4</ref>
-      </level>
-      <level name="level_5">
-        <pose>-3000.69 33.2621 -0.705101 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_5</ref>
-      </level>
-      <level name="level_6">
-        <pose>-3750.83 41.5476 -1.1017 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_6</ref>
-      </level>
-      <level name="level_7">
-        <pose>8.31046 750.171 -0.0442596 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_7</ref>
-      </level>
-      <level name="level_8">
-        <pose>-741.865 758.415 -0.0883251 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_8</ref>
-      </level>
-      <level name="level_9">
-        <pose>-1492.04 766.835 -0.22055 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_9</ref>
-      </level>
-      <level name="level_10">
-        <pose>-2242.21 775.1 -0.440893 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_10</ref>
-      </level>
-      <level name="level_11">
-        <pose>-2992.38 783.43 -0.749382 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_11</ref>
-      </level>
-      <level name="level_12">
-        <pose>-3742.55 791.715 -1.146 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_12</ref>
-      </level>
-      <level name="level_13">
-        <pose>16.6195 1500.34 -0.177038 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_13</ref>
-      </level>
-      <level name="level_14">
-        <pose>-733.49 1508.59 -0.221093 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_14</ref>
-      </level>
-      <level name="level_15">
-        <pose>-1483.69 1517.01 -0.353332 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_15</ref>
-      </level>
-      <level name="level_16">
-        <pose>-2233.88 1525.27 -0.573678 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_16</ref>
-      </level>
-      <level name="level_17">
-        <pose>-2984.08 1533.6 -0.882182 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_17</ref>
-      </level>
-      <level name="level_18">
-        <pose>-3734.18 1541.88 -1.27876 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>1000 1000 1000</size>
-          </box>
-        </geometry>
-        <ref>portuguese_ledge_tile_18</ref>
-      </level>
-    </plugin>
-
-    <gui fullscreen="0">
-
-      <!-- 3D scene -->
-      <plugin filename="MinimalScene" name="3D View">
-        <ignition-gui>
-          <title>3D View</title>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="string" key="state">docked</property>
-        </ignition-gui>
-
-        <engine>ogre2</engine>
-        <scene>scene</scene>
-        <ambient_light>0.4 0.4 0.4</ambient_light>
-        <background_color>0.8 0.8 0.8</background_color>
-        <!-- looking at robot -->
-        <camera_pose>0 6 6 0 0.5 -1.57</camera_pose>
-        <!-- looking at all science data for 2003080103_mb_l3_las.csv -->
-        <!--camera_pose>-50000 -30000 250000 0 1.1 1.58</camera_pose-->
-        <camera_clip>
-          <!-- ortho view needs low near clip -->
-          <!-- but a very low near clip messes orbit's far clip ?! -->
-          <near>0.1</near>
-          <!-- See 3000 km away -->
-          <far>3000000</far>
-        </camera_clip>
-      </plugin>
-
-      <!-- Plugins that add functionality to the scene -->
-      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
-        <ignition-gui>
-          <property key="state" type="string">floating</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="GzSceneManager" name="Scene Manager">
-        <ignition-gui>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="InteractiveViewControl" name="Interactive view control">
-        <ignition-gui>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="CameraTracking" name="Camera Tracking">
-        <ignition-gui>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="MarkerManager" name="Marker manager">
-        <ignition-gui>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
-        <warn_on_action_failure>false</warn_on_action_failure>
-      </plugin>
-      <plugin filename="SelectEntities" name="Select Entities">
-        <ignition-gui>
-          <anchors target="Select entities">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
-        <ignition-gui>
-          <anchors target="Select entities">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
-      </plugin>
-
-      <!-- World control -->
-      <plugin filename="WorldControl" name="World control">
-        <ignition-gui>
-          <title>World control</title>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="bool" key="resizable">false</property>
-          <property type="double" key="height">72</property>
-          <property type="double" key="width">121</property>
-          <property type="double" key="z">1</property>
-
-          <property type="string" key="state">floating</property>
-          <anchors target="3D View">
-            <line own="left" target="left"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </ignition-gui>
-
-        <play_pause>true</play_pause>
-        <step>true</step>
-        <start_paused>true</start_paused>
-      </plugin>
-
-      <!-- World statistics -->
-      <plugin filename="WorldStats" name="World stats">
-        <ignition-gui>
-          <title>World stats</title>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="bool" key="resizable">false</property>
-          <property type="double" key="height">110</property>
-          <property type="double" key="width">290</property>
-          <property type="double" key="z">1</property>
-
-          <property type="string" key="state">floating</property>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </ignition-gui>
-
-        <sim_time>true</sim_time>
-        <real_time>true</real_time>
-        <real_time_factor>true</real_time_factor>
-        <iterations>true</iterations>
-      </plugin>
-
-      <plugin filename="Plot3D" name="Plot 3D">
-        <ignition-gui>
-          <title>Plot Tethys 3D path</title>
-          <property type="string" key="state">docked_collapsed</property>
-        </ignition-gui>
-        <entity_name>tethys</entity_name>
-        <color>0 0 1</color>
-        <maximum_points>10000</maximum_points>
-        <minimum_distance>0.5</minimum_distance>
-      </plugin>
-      <plugin filename="ComponentInspector" name="Component Inspector">
-        <ignition-gui>
-          <title>Inspector</title>
-          <property type="string" key="state">docked_collapsed</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="PointCloud" name="Visualize science data">
-        <ignition-gui>
-          <title>Visualize science data</title>
-          <property type="string" key="state">docked_collapsed</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="ViewAngle" name="Camera controls">
-        <ignition-gui>
-          <title>Camera controls</title>
-          <property type="string" key="state">docked_collapsed</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="GridConfig" name="Grid config">
-        <ignition-gui>
-          <property type="string" key="state">docked_collapsed</property>
-        </ignition-gui>
-        <insert>
-          <!-- 300 km x 300 km -->
-          <cell_count>6</cell_count>
-          <vertical_cell_count>0</vertical_cell_count>
-          <!-- 50 km -->
-          <cell_length>50000</cell_length>
-          <pose>0 100000 0  0 0 0.32</pose>
-          <color>0 1 0 1</color>
-        </insert>
-        <insert>
-          <!-- 0.1 km x 0.1 km -->
-          <cell_count>100</cell_count>
-          <vertical_cell_count>0</vertical_cell_count>
-          <!-- 1 m -->
-          <cell_length>1</cell_length>
-          <pose>0 0 0  0 0 0</pose>
-          <color>0.5 0.5 0.5 1</color>
-        </insert>
-      </plugin>
-      <plugin filename="ControlPanelPlugin" name="Tethys Controls">
-        <ignition-gui>
-          <title>Tethys controls</title>
-          <property type="string" key="state">docked_collapsed</property>
-        </ignition-gui>
-      </plugin>
-      <plugin filename="ReferenceAxis" name="Reference axis">
-        <ignition-gui>
-          <title>Reference axis</title>
-          <property type="string" key="state">docked_collapsed</property>
-        </ignition-gui>
-        <fsk>tethys</fsk>
-      </plugin>
-    </gui>
-
-    <light type="directional" name="sun">
-      <cast_shadows>true</cast_shadows>
-      <pose>0 0 10 0 0 0</pose>
-      <diffuse>1 1 1 1</diffuse>
-      <specular>0.5 0.5 0.5 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-
-    <model name="portuguese_ledge_tile_1">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
-              <pos>0 0 0</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
-              <size>1000 1000 25.34</size>
-            </heightmap>
-          </geometry>
-        </collision-->
-        <visual name="visual">
-          <geometry>
-            <heightmap>
-              <pos>0 0 0</pos>
-              <use_terrain_paging>true</use_terrain_paging>
-              <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
-                <size>10</size>
-              </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile1_DecDeg.nc</uri>
-              <size>1000 1000 25.34</size>
-            </heightmap>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_2">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
-              <pos>-750.151 8.24476 -0.0440663</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
-              <size>1000 1000 27.094</size>
-            </heightmap>
-          </geometry>
-        </collision-->
-        <visual name="visual">
-          <geometry>
-            <heightmap>
-              <pos>-750.151 8.24476 -0.0440663</pos>
-              <use_terrain_paging>true</use_terrain_paging>
-              <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
-                <size>10</size>
-              </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile2_DecDeg.nc</uri>
-              <size>1000 1000 27.094</size>
-            </heightmap>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_3">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
-              <pos>-1500.3 16.6662 -0.176266</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
-              <size>1000 1000 11.602</size>
-            </heightmap>
-          </geometry>
-        </collision-->
-        <visual name="visual">
-          <geometry>
-            <heightmap>
-              <pos>-1500.3 16.6662 -0.176266</pos>
-              <use_terrain_paging>true</use_terrain_paging>
-              <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/flat_normal.png</normal>
-                <size>10</size>
-              </texture>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile3_DecDeg.nc</uri>
-              <size>1000 1000 11.602</size>
-            </heightmap>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_4">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
-              <pos>-2250.54 24.9313 -0.396628</pos>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile4_DecDeg.nc</uri>
-              <size>1000 1000 6.781</size>
-            </heightmap>
-          </geometry>
-        </collision-->
-        <visual name="visual">
-          <geometry>
-            <heightmap>
-              <pos>-2250.54 24.9313 -0.396628</pos>
-              <use_terrain_paging>true</use_terrain_paging>
-              <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
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-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
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-    <model name="portuguese_ledge_tile_6">
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-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
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-    <model name="portuguese_ledge_tile_7">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
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-    <model name="portuguese_ledge_tile_8">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
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-            <heightmap>
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-    <model name="portuguese_ledge_tile_9">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
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-    </model>
-    <model name="portuguese_ledge_tile_10">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
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-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_11">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
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-        <visual name="visual">
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-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_12">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
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-        <visual name="visual">
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-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_13">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
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-              <size>1000 1000 6.799</size>
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-        <visual name="visual">
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-        </visual>
-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_14">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
-              <pos>-733.49 1508.59 -0.221093</pos>
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-        <visual name="visual">
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-        </visual>
-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_15">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
-              <pos>-1483.69 1517.01 -0.353332</pos>
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-        <visual name="visual">
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-        </visual>
-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_16">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
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-        <visual name="visual">
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-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_17">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
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-        <visual name="visual">
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-      </link>
-    </model>
-    <model name="portuguese_ledge_tile_18">
-      <static>true</static>
-      <link name="link">
-        <!-- Collisions seem to be misbehaving at the moment. Revisit if they're ever needed -->
-        <!--collision name="collision">
-          <geometry>
-            <heightmap>
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