From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 25 Jul 2023 05:08:14 +0000 (-0300)
Subject: Add texture to walls and stairs.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=59fdf75e3db3123d571ff1c82beac4c453e400a8;p=ufrgs_gazebo.git

Add texture to walls and stairs.
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a41ec8..841dfd6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,4 +26,6 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
 ament_package()
diff --git a/env-hooks/ufrgs_gazebo.dsv.in b/env-hooks/ufrgs_gazebo.dsv.in
new file mode 100644
index 0000000..30a6001
--- /dev/null
+++ b/env-hooks/ufrgs_gazebo.dsv.in
@@ -0,0 +1,3 @@
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
+
+set-if-unset;MESA_GL_VERSION_OVERRIDE;3.3
diff --git a/models/centenario/materials/textures/granite2.jpg b/models/centenario/materials/textures/granite2.jpg
new file mode 100644
index 0000000..607152b
Binary files /dev/null and b/models/centenario/materials/textures/granite2.jpg differ
diff --git a/models/centenario/materials/textures/wood.jpg b/models/centenario/materials/textures/wood.jpg
new file mode 100644
index 0000000..8111b0c
Binary files /dev/null and b/models/centenario/materials/textures/wood.jpg differ
diff --git a/models/centenario/model.sdf b/models/centenario/model.sdf
index b5853ff..13b237c 100644
--- a/models/centenario/model.sdf
+++ b/models/centenario/model.sdf
@@ -1,7 +1,7 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
   <model name='Centenario'>
-    <pose frame=''>-0.026228 -3.16612 0 0 -0 0</pose>
+    <!--pose frame=''>-0.026228 -3.16612 0 0 -0 0</pose-->
     <link name='Stairs_0'>
       <visual name='Stairs_0_Visual_0'>
         <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
@@ -12,10 +12,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -38,10 +47,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -64,10 +82,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -90,10 +117,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -116,10 +152,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -142,10 +187,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -168,10 +222,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -194,10 +257,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -220,10 +292,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -246,10 +327,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -272,10 +362,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -298,10 +397,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -324,10 +432,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -350,10 +467,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -376,10 +502,19 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/kitchen.material</uri>
+            <name>Kitchen/CounterTop</name>
           </script>
           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/granite2.jpg</albedo_map>
+              <normal_map>materials/textures/granite2.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -413,9 +548,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -442,9 +586,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -471,9 +624,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -500,9 +662,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -529,9 +700,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -558,9 +738,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -587,9 +776,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -616,9 +814,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -638,9 +845,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -664,9 +880,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -690,9 +915,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -726,9 +960,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -755,9 +998,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -784,9 +1036,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -813,9 +1074,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -842,9 +1112,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -871,9 +1150,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -900,9 +1188,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -929,9 +1226,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -958,9 +1264,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -987,9 +1302,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1016,9 +1340,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1045,9 +1378,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1074,9 +1416,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1103,9 +1454,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1132,9 +1492,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1161,9 +1530,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1190,9 +1568,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1219,9 +1606,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1248,9 +1644,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1277,9 +1682,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1306,9 +1720,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1335,9 +1758,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1364,9 +1796,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1393,9 +1834,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1422,9 +1872,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1451,9 +1910,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1480,9 +1948,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
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@@ -1502,9 +1979,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
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@@ -1528,9 +2014,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
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@@ -1554,9 +2049,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1590,9 +2094,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1619,9 +2132,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
@@ -1648,9 +2170,18 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
+          <diffuse>0.980392 0.705882 0.588235 1</diffuse>
+          <specular>0.980392 0.705882 0.588235 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood.jpg</albedo_map>
+              <normal_map>materials/textures/wood.jpg</normal_map>
+            </metal>
+          </pbr>
         </material>
         <meta>
           <layer>0</layer>
diff --git a/package.xml b/package.xml
index 37a548a..9255ea2 100644
--- a/package.xml
+++ b/package.xml
@@ -14,6 +14,7 @@
 
   <export>
     <build_type>ament_cmake</build_type>
-    <gazebo_ros gazebo_worlds_path="${prefix}/.."/>
+    <gazebo_ros gazebo_model_path="${prefix}/.."/>
+    <gazebo_ros gazebo_resource_path="${prefix}/.."/>
   </export>
 </package>
diff --git a/worlds/centenario.world b/worlds/centenario.world
index d714130..f216949 100644
--- a/worlds/centenario.world
+++ b/worlds/centenario.world
@@ -1,5 +1,7 @@
-<sdf version='1.6'>
-  <world name='default'>
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <!-- A global light source -->
     <light name='sun' type='directional'>
       <cast_shadows>1</cast_shadows>
       <pose frame=''>0 0 10 0 -0 0</pose>
@@ -13,6 +15,7 @@
       </attenuation>
       <direction>-0.5 0.1 -0.9</direction>
     </light>
+    <!-- A ground plane -->
     <model name='ground_plane'>
       <static>1</static>
       <link name='link'>
@@ -54,6 +57,9 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
           </material>
         </visual>
         <self_collide>0</self_collide>
@@ -61,6 +67,10 @@
         <kinematic>0</kinematic>
       </link>
     </model>
+    <!-- Building model  -->
+    <include>
+      <uri>model://ufrgs_gazebo/models/centenario</uri>
+    </include>
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type='adiabatic'/>
@@ -73,2843 +83,29 @@
       <ambient>0.4 0.4 0.4 1</ambient>
       <background>0.7 0.7 0.7 1</background>
       <shadows>1</shadows>
+      <sky>
+        <clouds>
+          <speed>12</speed>
+        </clouds>
+      </sky>
     </scene>
     <audio>
       <device>default</device>
     </audio>
     <wind/>
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>-30.0277777777778</latitude_deg>
-      <longitude_deg>-51.228611111111</longitude_deg>
-      <elevation>22.0</elevation>
-      <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
+   <spherical_coordinates>
+        <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
         (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,
         therefore we rotate the default frame 180 so that it would go back to ENU -->
-      <heading_deg>180</heading_deg>
-    </spherical_coordinates>
-    <model name='Centenario'>
-      <pose frame=''>-0.118577 7.44241 0 0 -0 0</pose>
-      <link name='Stairs_0'>
-        <visual name='Stairs_0_Visual_0'>
-          <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_0'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_1'>
-          <pose frame=''>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_1'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_2'>
-          <pose frame=''>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_2'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_3'>
-          <pose frame=''>-0.034964 -3.34872 0.583333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_3'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -3.34872 0.583333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_4'>
-          <pose frame=''>-0.034964 -3.11539 0.75 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_4'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -3.11539 0.75 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_5'>
-          <pose frame=''>-0.034964 -2.88206 0.916667 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_5'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -2.88206 0.916667 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_6'>
-          <pose frame=''>-0.034964 -2.64872 1.08333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_6'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -2.64872 1.08333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_7'>
-          <pose frame=''>-0.034964 -2.41539 1.25 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_7'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -2.41539 1.25 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_8'>
-          <pose frame=''>-0.034964 -2.18206 1.41667 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_8'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -2.18206 1.41667 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_9'>
-          <pose frame=''>-0.034964 -1.94872 1.58333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_9'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.94872 1.58333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_10'>
-          <pose frame=''>-0.034964 -1.71539 1.75 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_10'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.71539 1.75 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_11'>
-          <pose frame=''>-0.034964 -1.48206 1.91667 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_11'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.48206 1.91667 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_12'>
-          <pose frame=''>-0.034964 -1.24872 2.08333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_12'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.24872 2.08333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_13'>
-          <pose frame=''>-0.034964 -1.01539 2.25 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_13'>
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-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_43'>
-          <pose frame=''>6.93641 2.8628 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_45'>
-          <pose frame=''>5.41902 0.15954 0 0 -0 1.5708</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_49'>
-          <pose frame=''>-5.52011 0.21172 0 0 -0 1.5708</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_5'>
-          <pose frame=''>8.49786 7.5 0 0 0 -1.5708</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_50'>
-          <pose frame=''>-5.34512 1.38672 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_52'>
-          <pose frame=''>-5.31251 2.51498 0 0 -0 3.14159</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_53'>
-          <pose frame=''>-5.48751 3.68998 0 0 -0 1.5708</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_55'>
-          <pose frame=''>-6.67338 5.2628 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_58'>
-          <pose frame=''>-3.27177 5.23289 0 0 -0 0.785398</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_59'>
-          <pose frame=''>-2.97125 5.95841 0 0 -0 1.5708</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_60'>
-          <pose frame=''>-3.18338 6.59554 0 0 -0 2.35619</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_61'>
-          <pose frame=''>-5.19551 6.80767 0 0 -0 3.14159</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_62'>
-          <pose frame=''>-6.99551 10.6077 0 0 -0 1.5708</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_65'>
-          <pose frame=''>-4.94665 4.85004 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_66'>
-          <pose frame=''>-4.76001 5.05642 0 0 -0 1.51448</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_68'>
-          <pose frame=''>-2.82165 4.85004 0 0 -0 3.14159</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_74'>
-          <pose frame=''>7.05837 10.7219 0 0 -0 1.56127</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_75'>
-          <pose frame=''>0.044588 14.5219 0 0 -0 3.14159</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_77'>
-          <pose frame=''>5.0719 1.92224 0 0 -0 1.5708</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_79'>
-          <pose frame=''>5.24401 1.33454 0 0 -0 3.14159</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_81'>
-          <pose frame=''>5.21141 2.5128 0 0 -0 3.14159</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='Wall_9'>
-          <pose frame=''>2.12835 5.02504 0 0 -0 1.5708</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='ground_plane'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <light name='sun'>
-        <pose frame=''>0 0 10 0 -0 0</pose>
-      </light>
-    </state>
+        <heading_deg>180</heading_deg>
+	<surface_model>EARTH_WGS84</surface_model>
+	<latitude_deg>-30.0277777777778</latitude_deg>
+	<longitude_deg>-51.228611111111</longitude_deg>
+	<elevation>22.0</elevation>
+   </spherical_coordinates>
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose frame=''>4.51855 4.85934 38.2537 -3.9e-05 1.5698 1.56416</pose>
+        <pose>0.662337 -17.1466 23.9938 -0 0.979643 1.5642</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>
diff --git a/worlds/empty_sky_porto_alegre.world b/worlds/empty_sky_porto_alegre.world
index 4b1de68..6b4536c 100644
--- a/worlds/empty_sky_porto_alegre.world
+++ b/worlds/empty_sky_porto_alegre.world
@@ -9,13 +9,71 @@
       </sky>
     </scene>
     <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 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>
     <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
    <spherical_coordinates>
         <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
         (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,