Orca4 uses the worlds and models from bluerov2_ignition.
The bluerov2 model was copied and modified to create the orca4 model.
The underwater world was copied and modified to create the sand world.
The generate_model.py script takes the orca/model.sdf.in
file and replaces strings of the form @foo with calculated values to generate
orca/model.sdf.
The script must be run manually when the model is changed.
An URDF file is not provided. In practice this means 2 things:
- static transforms are published by instances
tf2_ros/static_transform_publisher - Rviz2 will only show transforms (Rviz2 can't read SDF)