From a46d353dbc4e530fbb9a69c634fb70e8d0e8a85e Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 20 Apr 2022 13:42:50 -0300
Subject: [PATCH] Add Latitude, Logitude and Altitude of Porto Alegre.

---
 worlds/centenario.world             | 11 +++++++----
 worlds/empty_sky_porto_alegre.world | 30 ++++++++++++++++++++++++++++++
 2 files changed, 37 insertions(+), 4 deletions(-)
 create mode 100644 worlds/empty_sky_porto_alegre.world

diff --git a/worlds/centenario.world b/worlds/centenario.world
index 4571f07..d714130 100644
--- a/worlds/centenario.world
+++ b/worlds/centenario.world
@@ -80,10 +80,13 @@
     <wind/>
     <spherical_coordinates>
       <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>0</latitude_deg>
-      <longitude_deg>0</longitude_deg>
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
+      <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
+        (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>
diff --git a/worlds/empty_sky_porto_alegre.world b/worlds/empty_sky_porto_alegre.world
new file mode 100644
index 0000000..4b1de68
--- /dev/null
+++ b/worlds/empty_sky_porto_alegre.world
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <scene>
+      <sky>
+        <clouds>
+          <speed>12</speed>
+        </clouds>
+      </sky>
+    </scene>
+    <!-- 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>
-- 
2.12.0