From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Tue, 25 Jul 2023 01:14:13 +0000 (-0300)
Subject: modified centenario model and added launch file and new world file
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=778e1cc7bd5cb2b85c77af4c95e2b3d71cbaaa79;p=ufrgs_gazebo.git

modified centenario model and added launch file and new world file
---

diff --git a/.gitignore b/.gitignore
index c1edc29..2b9c0eb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,3 +49,6 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+
+# Visual Studio Code settings
+.vscode
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a41ec8..9e21ab7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
-install(DIRECTORY models worlds
+install(DIRECTORY models worlds launch
 	DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/launch/gazebo.launch.xml b/launch/gazebo.launch.xml
new file mode 100644
index 0000000..9945be1
--- /dev/null
+++ b/launch/gazebo.launch.xml
@@ -0,0 +1,13 @@
+<launch>
+    <arg name="pause" default="true" />
+    <arg name="gui" default="true" />
+    <arg name="use_sim_time" default="true" />
+    <arg name="world" default="$(find-pkg-share ufrgs_gazebo)/worlds/centenario_empty.world" />
+
+    <include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
+        <arg name="pause" value="$(var pause)" />
+        <arg name="gui" value="$(var gui)" />
+        <arg name="use_sim_time" value="$(var use_sim_time)" />
+        <arg name="world" value="$(var world)" />
+    </include>
+</launch>
diff --git a/models/centenario/model.config b/models/centenario/model.config
index 2cca988..faea475 100644
--- a/models/centenario/model.config
+++ b/models/centenario/model.config
@@ -1,8 +1,8 @@
-<?xml version="1.0" ?>
+<?xml version="1.0"?>
 <model>
     <name>Centenario</name>
     <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
+    <sdf version="1.7">model.sdf</sdf>
     <author>
         <name></name>
         <email></email>
diff --git a/models/centenario/model.sdf b/models/centenario/model.sdf
index b5853ff..3a2a07b 100644
--- a/models/centenario/model.sdf
+++ b/models/centenario/model.sdf
@@ -1,1663 +1,5173 @@
 <?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='Centenario'>
-    <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>
-        <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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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>
-      </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'>
-        <geometry>
-          <box>
-            <size>1.99247 0.233333 0.166667</size>
-          </box>
-        </geometry>
-        <pose frame=''>-0.034964 -1.01539 2.25 0 -0 -3.14159</pose>
-      </collision>
-      <visual name='Stairs_0_Visual_14'>
-        <pose frame=''>-0.034964 -0.782057 2.41667 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_14'>
-        <geometry>
-          <box>
-            <size>1.99247 0.233333 0.166667</size>
-          </box>
-        </geometry>
-        <pose frame=''>-0.034964 -0.782057 2.41667 0 -0 -3.14159</pose>
-      </collision>
-    </link>
-    <link name='Wall_1'>
-      <collision name='Wall_1_Collision'>
-        <geometry>
-          <box>
-            <size>17.25 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_1_Visual'>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>17.25 0.15 2.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>-0.002142 -8.55 0 0 -0 3.14159</pose>
-    </link>
-    <link name='Wall_10'>
-      <collision name='Wall_10_Collision'>
-        <geometry>
-          <box>
-            <size>0.75 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_10_Visual'>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.75 0.15 2.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>2.47835 -2.29996 0 0 -0 0</pose>
-    </link>
-    <link name='Wall_11'>
-      <collision name='Wall_11_Collision'>
-        <geometry>
-          <box>
-            <size>3.5 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_11_Visual'>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>3.5 0.15 2.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>2.77835 -0.624959 0 0 -0 1.5708</pose>
-    </link>
-    <link name='Wall_12'>
-      <collision name='Wall_12_Collision'>
-        <geometry>
-          <box>
-            <size>5.5 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_12_Visual'>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>5.5 0.15 2.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>0.103353 1.05004 0 0 -0 3.14159</pose>
-    </link>
-    <link name='Wall_17'>
-      <collision name='Wall_17_Collision'>
-        <geometry>
-          <box>
-            <size>3.25 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_17_Visual'>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>3.25 0.15 2.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>-2.57165 -0.499959 0 0 -0 -1.5708</pose>
-    </link>
-    <link name='Wall_18'>
-      <collision name='Wall_18_Collision'>
-        <geometry>
-          <box>
-            <size>0.75 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_18_Visual'>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.75 0.15 2.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>-2.27165 -2.04996 0 0 -0 0</pose>
-    </link>
-    <link name='Wall_19'>
-      <collision name='Wall_19_Collision'>
-        <geometry>
-          <box>
-            <size>0.75 0.15 2.5</size>
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+                    <layer>0</layer>
+                </meta>
+            </visual>
+            <collision name='Wall_74_Collision_10'>
+                <geometry>
+                    <box>
+                        <size>1.2 0.5 1.2</size>
+                    </box>
+                </geometry>
+                <pose>2.73966 0 1.9 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_74_Visual_11'>
+                <pose>5.27267 0 1.9 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>1.2 0.5 1.2</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='Wall_74_Collision_11'>
+                <geometry>
+                    <box>
+                        <size>1.2 0.5 1.2</size>
+                    </box>
+                </geometry>
+                <pose>5.27267 0 1.9 0 -0 0</pose>
+            </collision>
+        </link>
+        <link name='Wall_78'>
+            <pose>6.70302 0.005458 0 0 -0 1.5708</pose>
+            <visual name='Wall_78_Visual_0'>
+                <pose>-2.32166 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>2.85669 0.5 2.5</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='Wall_78_Collision_0'>
+                <geometry>
+                    <box>
+                        <size>2.85669 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>-2.32166 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_78_Visual_1'>
+                <pose>0.484282 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.955189 0.5 2.5</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='Wall_78_Collision_1'>
+                <geometry>
+                    <box>
+                        <size>0.955189 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>0.484282 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_78_Visual_2'>
+                <pose>2.35594 0 0.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>2.78812 0.5 0.5</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='Wall_78_Collision_2'>
+                <geometry>
+                    <box>
+                        <size>2.78812 0.5 0.5</size>
+                    </box>
+                </geometry>
+                <pose>2.35594 0 0.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_78_Visual_3'>
+                <pose>2.95594 0 1.5 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>1.58812 0.5 2</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='Wall_78_Collision_3'>
+                <geometry>
+                    <box>
+                        <size>1.58812 0.5 2</size>
+                    </box>
+                </geometry>
+                <pose>2.95594 0 1.5 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_78_Visual_4'>
+                <pose>1.56188 0 1.9 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>1.2 0.5 1.2</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='Wall_78_Collision_4'>
+                <geometry>
+                    <box>
+                        <size>1.2 0.5 1.2</size>
+                    </box>
+                </geometry>
+                <pose>1.56188 0 1.9 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_78_Visual_5'>
+                <pose>-0.443312 0 2.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.9 0.5 0.5</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='Wall_78_Collision_5'>
+                <geometry>
+                    <box>
+                        <size>0.9 0.5 0.5</size>
+                    </box>
+                </geometry>
+                <pose>-0.443312 0 2.25 0 -0 0</pose>
+            </collision>
+        </link>
+        <link name='Wall_80'>
+            <collision name='Wall_80_Collision'>
+                <geometry>
+                    <box>
+                        <size>1 0.15 2.5</size>
+                    </box>
+                </geometry>
+                <pose>0 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_80_Visual'>
+                <pose>0 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>1 0.15 2.5</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>
+            <pose>-2.80797 0.166125 0 0 -0 -1.5708</pose>
+        </link>
+        <link name='Wall_82'>
+            <collision name='Wall_82_Collision'>
+                <geometry>
+                    <box>
+                        <size>4 0.15 2.5</size>
+                    </box>
+                </geometry>
+                <pose>0 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_82_Visual'>
+                <pose>0 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>4 0.15 2.5</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>
+            <pose>-4.68186 0.591196 0 0 -0 0</pose>
+        </link>
+        <link name='Wall_84'>
+            <collision name='Wall_84_Collision'>
+                <geometry>
+                    <box>
+                        <size>0.5 0.15 2.5</size>
+                    </box>
+                </geometry>
+                <pose>0 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_84_Visual'>
+                <pose>0 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.5 0.15 2.5</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>
+            <pose>2.65353 0.336973 0 0 -0 -1.5708</pose>
+        </link>
+        <link name='Wall_86'>
+            <collision name='Wall_86_Collision'>
+                <geometry>
+                    <box>
+                        <size>4 0.15 2.5</size>
+                    </box>
+                </geometry>
+                <pose>0 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_86_Visual'>
+                <pose>0 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>4 0.15 2.5</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>
+            <pose>4.57853 0.538357 0 0 -0 0</pose>
+        </link>
+        <link name='Wall_9'>
+            <pose>-8.83601 -5.52243 0 0 -0 3.13932</pose>
+            <visual name='Wall_9_Visual_0'>
+                <pose>-6.07271 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>1.56958 0.5 2.5</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='Wall_9_Collision_0'>
+                <geometry>
+                    <box>
+                        <size>1.56958 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>-6.07271 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_9_Visual_1'>
+                <pose>-0.817061 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>6.54173 0.5 2.5</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='Wall_9_Collision_1'>
+                <geometry>
+                    <box>
+                        <size>6.54173 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>-0.817061 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_9_Visual_2'>
+                <pose>5.30565 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>3.1037 0.5 2.5</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='Wall_9_Collision_2'>
+                <geometry>
+                    <box>
+                        <size>3.1037 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>5.30565 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_9_Visual_3'>
+                <pose>-4.68792 0 2.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>1.2 0.5 0.5</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='Wall_9_Collision_3'>
+                <geometry>
+                    <box>
+                        <size>1.2 0.5 0.5</size>
+                    </box>
+                </geometry>
+                <pose>-4.68792 0 2.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_9_Visual_4'>
+                <pose>3.1038 0 2.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>1.3 0.5 0.5</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='Wall_9_Collision_4'>
+                <geometry>
+                    <box>
+                        <size>1.3 0.5 0.5</size>
+                    </box>
+                </geometry>
+                <pose>3.1038 0 2.25 0 -0 0</pose>
+            </collision>
+        </link>
+        <link name='Wall_90'>
+            <collision name='Wall_90_Collision'>
+                <geometry>
+                    <box>
+                        <size>4.1 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>0 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_90_Visual'>
+                <pose>0 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>4.1 0.5 2.5</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>
+            <pose>4.92049 -1.43321 0 0 -0 0</pose>
+        </link>
+        <link name='Wall_92'>
+            <collision name='Wall_92_Collision'>
+                <geometry>
+                    <box>
+                        <size>2.25 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>0 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_92_Visual'>
+                <pose>0 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>2.25 0.5 2.5</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>
+            <pose>4.93237 -2.40061 0 0 -0 -1.5708</pose>
+        </link>
+        <link name='Wall_94'>
+            <collision name='Wall_94_Collision'>
+                <geometry>
+                    <box>
+                        <size>4 0.15 2.5</size>
+                    </box>
+                </geometry>
+                <pose>0 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_94_Visual'>
+                <pose>0 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>4 0.15 2.5</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>
+            <pose>-5.00316 -1.44901 0 0 -0 3.14159</pose>
+        </link>
+        <link name='Wall_96'>
+            <pose>4.95928 -3.51032 0 0 -0 0</pose>
+            <visual name='Wall_96_Visual_0'>
+                <pose>-1.62912 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.741754 0.5 2.5</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='Wall_96_Collision_0'>
+                <geometry>
+                    <box>
+                        <size>0.741754 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>-1.62912 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_96_Visual_1'>
+                <pose>-0.049324 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.617843 0.5 2.5</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='Wall_96_Collision_1'>
+                <geometry>
+                    <box>
+                        <size>0.617843 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>-0.049324 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_96_Visual_2'>
+                <pose>1.5798 0 1.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.840403 0.5 2.5</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='Wall_96_Collision_2'>
+                <geometry>
+                    <box>
+                        <size>0.840403 0.5 2.5</size>
+                    </box>
+                </geometry>
+                <pose>1.5798 0 1.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_96_Visual_3'>
+                <pose>-0.808246 0 2.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.9 0.5 0.5</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='Wall_96_Collision_3'>
+                <geometry>
+                    <box>
+                        <size>0.9 0.5 0.5</size>
+                    </box>
+                </geometry>
+                <pose>-0.808246 0 2.25 0 -0 0</pose>
+            </collision>
+            <visual name='Wall_96_Visual_4'>
+                <pose>0.709597 0 2.25 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.9 0.5 0.5</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='Wall_96_Collision_4'>
+                <geometry>
+                    <box>
+                        <size>0.9 0.5 0.5</size>
+                    </box>
+                </geometry>
+                <pose>0.709597 0 2.25 0 -0 0</pose>
+            </collision>
+        </link>
+        <static>1</static>
+    </model>
 </sdf>
diff --git a/package.xml b/package.xml
index 37a548a..a54aa9d 100644
--- a/package.xml
+++ b/package.xml
@@ -1,19 +1,20 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ufrgs_gazebo</name>
-  <version>2.0.0</version>
-  <description>UFRGS Worlds package</description>
-  <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-  <license>GPLv3</license>
+    <name>ufrgs_gazebo</name>
+    <version>2.0.0</version>
+    <description>UFRGS Worlds package</description>
+    <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+    <license>GPLv3</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+    <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
 
-  <export>
-    <build_type>ament_cmake</build_type>
-    <gazebo_ros gazebo_worlds_path="${prefix}/.."/>
-  </export>
+    <export>
+        <build_type>ament_cmake</build_type>
+        <gazebo_ros gazebo_worlds_path="${prefix}/.." />
+        <gazebo_ros gazebo_model_path="${prefix}/models" />
+    </export>
 </package>
diff --git a/worlds/centenario_empty.world b/worlds/centenario_empty.world
new file mode 100644
index 0000000..9536b65
--- /dev/null
+++ b/worlds/centenario_empty.world
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <world name="default">
+        <scene>
+            <sky>
+                <clouds>
+                    <speed>12</speed>
+                </clouds>
+            </sky>
+        </scene>
+        <include>
+            <uri>model://centenario</uri>
+        </include>
+        <!-- A global light source -->
+        <include>
+            <uri>model://sun</uri>
+        </include>
+        <!-- A ground plane -->
+        <include>
+            <uri>model://ground_plane</uri>
+        </include>
+        <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>
+            <surface_model>EARTH_WGS84</surface_model>
+            <latitude_deg>-30.0277777777778</latitude_deg>
+            <longitude_deg>-51.228611111111</longitude_deg>
+            <elevation>22.0</elevation>
+        </spherical_coordinates>
+    </world>
+</sdf>