From 5a003df73949f6d6cf92a3360491b097f13fc858 Mon Sep 17 00:00:00 2001
From: stevendes <steven.desvars@gmail.com>
Date: Thu, 17 Oct 2019 20:28:58 -0300
Subject: [PATCH] Changed the apriltags and camera plugin

fixup! Adding new world
---
 ca_description/urdf/create_apriltag.xacro     |  14 ++-
 ca_description/urdf/create_base.xacro         |   7 +-
 ca_gazebo/launch/create_camera_world.launch   |  27 +----
 .../materials/textures/apriltag1.png          | Bin 99 -> 0 bytes
 .../Camera_world/Apriltag1/model.config       |  11 --
 .../materials/textures/apriltag2.png          | Bin 97 -> 0 bytes
 .../Camera_world/Apriltag2/model.config       |  11 --
 .../materials/textures/apriltag3.png          | Bin 99 -> 0 bytes
 .../Camera_world/Apriltag3/model.config       |  11 --
 .../models/Camera_world/Camera/model.config   |  11 --
 .../models/Camera_world/Camera/model.sdf      |  33 ------
 .../models/Camera_world/Walls/model.config    |  11 --
 .../materials/scripts/textures.material       |   5 +-
 .../materials/textures/apriltag1.png          | Bin 0 -> 113 bytes
 .../camera_world/apriltag1/model.config       |  11 ++
 .../apriltag1}/model.sdf                      |   8 +-
 .../materials/scripts/textures.material       |   3 +-
 .../materials/textures/apriltag2.png          | Bin 0 -> 111 bytes
 .../camera_world/apriltag2/model.config       |  11 ++
 .../apriltag2}/model.sdf                      |  10 +-
 .../materials/scripts/textures.material       |   3 +-
 .../materials/textures/apriltag3.png          | Bin 0 -> 117 bytes
 .../camera_world/apriltag3/model.config       |  11 ++
 .../models/camera_world/camera/model.config   |  11 ++
 .../models/camera_world/camera/model.sdf      |  94 ++++++++++++++++++
 .../model.config                              |   0
 .../models/camera_world/walls/model.config    |  11 ++
 .../Walls => camera_world/walls}/model.sdf    |   4 +-
 ca_gazebo/worlds/camera_world.world           |  27 ++---
 29 files changed, 191 insertions(+), 154 deletions(-)
 delete mode 100644 ca_gazebo/models/Camera_world/Apriltag1/materials/textures/apriltag1.png
 delete mode 100644 ca_gazebo/models/Camera_world/Apriltag1/model.config
 delete mode 100644 ca_gazebo/models/Camera_world/Apriltag2/materials/textures/apriltag2.png
 delete mode 100644 ca_gazebo/models/Camera_world/Apriltag2/model.config
 delete mode 100644 ca_gazebo/models/Camera_world/Apriltag3/materials/textures/apriltag3.png
 delete mode 100644 ca_gazebo/models/Camera_world/Apriltag3/model.config
 delete mode 100644 ca_gazebo/models/Camera_world/Camera/model.config
 delete mode 100644 ca_gazebo/models/Camera_world/Camera/model.sdf
 delete mode 100644 ca_gazebo/models/Camera_world/Walls/model.config
 rename ca_gazebo/models/{Camera_world/Apriltag1 => camera_world/apriltag1}/materials/scripts/textures.material (85%)
 create mode 100644 ca_gazebo/models/camera_world/apriltag1/materials/textures/apriltag1.png
 create mode 100644 ca_gazebo/models/camera_world/apriltag1/model.config
 rename ca_gazebo/models/{Camera_world/Apriltag2 => camera_world/apriltag1}/model.sdf (79%)
 rename ca_gazebo/models/{Camera_world/Apriltag2 => camera_world/apriltag2}/materials/scripts/textures.material (86%)
 create mode 100644 ca_gazebo/models/camera_world/apriltag2/materials/textures/apriltag2.png
 create mode 100644 ca_gazebo/models/camera_world/apriltag2/model.config
 rename ca_gazebo/models/{Camera_world/Apriltag1 => camera_world/apriltag2}/model.sdf (78%)
 rename ca_gazebo/models/{Camera_world/Apriltag3 => camera_world/apriltag3}/materials/scripts/textures.material (86%)
 create mode 100644 ca_gazebo/models/camera_world/apriltag3/materials/textures/apriltag3.png
 create mode 100644 ca_gazebo/models/camera_world/apriltag3/model.config
 create mode 100644 ca_gazebo/models/camera_world/camera/model.config
 create mode 100644 ca_gazebo/models/camera_world/camera/model.sdf
 rename ca_gazebo/models/{Camera_world => camera_world}/model.config (100%)
 create mode 100644 ca_gazebo/models/camera_world/walls/model.config
 rename ca_gazebo/models/{Camera_world/Walls => camera_world/walls}/model.sdf (99%)

diff --git a/ca_description/urdf/create_apriltag.xacro b/ca_description/urdf/create_apriltag.xacro
index 78f64fbb5..b4353ac1a 100644
--- a/ca_description/urdf/create_apriltag.xacro
+++ b/ca_description/urdf/create_apriltag.xacro
@@ -1,17 +1,15 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
-<xacro:macro name="create_apriltag">
+<xacro:macro name="create_apriltag" params="parent">
  <joint name="apriltag_joint" type="fixed">
-    <origin xyz="0 0 0.25" rpy="0 0 0" />
-    <parent link="base_link" />
+    <xacro:insert_block name='apriltag_origin' />
+    <parent link="${parent}" />
     <child link="apriltag_link" />
   </joint>
 
   <link name="apriltag_link">
-    <xacro:dummy_inertia/>
     <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
   	       <box size="0.5 0.5 0.01"/>
         </geometry>            
@@ -22,9 +20,9 @@
     <visual>
       <material>
         <script>
-          <uri>model://Camera_world/Apriltag3/materials/scripts/textures.material</uri>
-          <uri>model://Camera_world/Apriltag3/materials/textures/apriltag3.png</uri>
-          <name>Apriltag3</name>
+          <uri>model://camera_world/apriltag3/materials/scripts/textures.material</uri>
+          <uri>model://camera_world/apriltag3/materials/textures/apriltag3.png</uri>
+          <name>apriltag3</name>
         </script>-
         <ambient>1 1 1 1</ambient>
         <diffuse>1 1 1 1</diffuse>
diff --git a/ca_description/urdf/create_base.xacro b/ca_description/urdf/create_base.xacro
index 6d4c3fc3c..b46b3d7d5 100644
--- a/ca_description/urdf/create_base.xacro
+++ b/ca_description/urdf/create_base.xacro
@@ -51,7 +51,12 @@
       <origin xyz="0 -0.04 0.13" rpy="0 0 0"/>
     </xacro:imu_sensor>
 
-    <xacro:create_apriltag/>
+    <!--Setting Apriltag Variables-->
+    <xacro:property name="apriltag_origin" >
+      <origin xyz="0 0 0.25" rpy="0 0 0" />
+    </xacro:property>
+
+    <xacro:create_apriltag parent="base_link"/>
 
     <xacro:create_wheel prefix="left" y_offset="${wheel_separation / 2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
     <xacro:create_wheel prefix="right" y_offset="${wheel_separation / -2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
diff --git a/ca_gazebo/launch/create_camera_world.launch b/ca_gazebo/launch/create_camera_world.launch
index fd1bc61d5..06be75f67 100644
--- a/ca_gazebo/launch/create_camera_world.launch
+++ b/ca_gazebo/launch/create_camera_world.launch
@@ -3,30 +3,9 @@
   <param name="create1/amcl/initial_pose_y" value="4"/>
   <param name="create1/amcl/initial_pose_a" value="0"/>
   
-  <arg name="env" default="camera_world"/>
-
-  <arg name="paused" value="$(optenv PAUSED false)"/>
-  <arg name="gui" value="$(optenv GUI true)"/>
-  <arg name="debug" value="$(optenv DEBUG false)"/>
-  <env name="GAZEBO_MODEL_PATH" value="$(find ca_gazebo)/models"/>
-
-	<!-- Launch Gazebo world -->
-	<include file="$(find gazebo_ros)/launch/empty_world.launch">
-		<arg name="debug" value="$(arg debug)" />
-		<arg name="gui" value="$(arg gui)" />
-		<arg name="paused" value="$(arg paused)"/>
-		<arg name="use_sim_time" value="true"/>
-		<arg name="verbose" value="true"/>
-		<arg name="world_name" value="$(find ca_gazebo)/worlds/$(arg env).world"/>
-	</include>
-
-	<!-- Spawn robot/s -->
-	<include file="$(find ca_gazebo)/launch/spawn_multirobot.launch"/>
-
-  <!-- map_server -->
-  <include file="$(find ca_move_base)/launch/map_server.launch">
-	<arg name="env" value="$(arg env)"/>
+  <include file="$(find ca_gazebo)/launch/create_empty_world.launch">
+    <arg name="env" value="camera_world"/>
   </include>
-
+  
 </launch>
 
diff --git a/ca_gazebo/models/Camera_world/Apriltag1/materials/textures/apriltag1.png b/ca_gazebo/models/Camera_world/Apriltag1/materials/textures/apriltag1.png
deleted file mode 100644
index f6f22a9c9782ddb1b16b7833b0ff6cba3ca662a2..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 99
zcmeAS@N?(olHy`uVBq!ia0vp^93afW1|*O0@9PFqTAnVBAr*1SKl~XC8aUb5)<~>o
wO0n}}H85PmHNn?0u)!xew1M}q=mTbkYKs*SuD9D~0Ch2Vy85}Sb4q9e02tC4MF0Q*

diff --git a/ca_gazebo/models/Camera_world/Apriltag1/model.config b/ca_gazebo/models/Camera_world/Apriltag1/model.config
deleted file mode 100644
index 8ea15b254..000000000
--- a/ca_gazebo/models/Camera_world/Apriltag1/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>Apriltag1</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/ca_gazebo/models/Camera_world/Apriltag2/materials/textures/apriltag2.png b/ca_gazebo/models/Camera_world/Apriltag2/materials/textures/apriltag2.png
deleted file mode 100644
index 9b66b7d59b034d5245135dc3009bcbab41661ee7..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 97
zcmeAS@N?(olHy`uVBq!ia0vp^93afW1|*O0@9PFq8lEnWAr*1SKl~XC8aUb5)<~>o
uO0nx=N@)mYj1%6Vc_^Tv?;+O*Mut0|R)=n?ZgK+ZVeoYIb6Mw<&;$S&HX3yR

diff --git a/ca_gazebo/models/Camera_world/Apriltag2/model.config b/ca_gazebo/models/Camera_world/Apriltag2/model.config
deleted file mode 100644
index e62d50649..000000000
--- a/ca_gazebo/models/Camera_world/Apriltag2/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>Apriltag2</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/ca_gazebo/models/Camera_world/Apriltag3/materials/textures/apriltag3.png b/ca_gazebo/models/Camera_world/Apriltag3/materials/textures/apriltag3.png
deleted file mode 100644
index 856d4f163ffd2252c1d622335c341dfe461f0cde..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 99
zcmeAS@N?(olHy`uVBq!ia0vp^93afW1|*O0@9PFqTAnVBAr*1SKl~XC8aUb5)<~>o
w+ToYOwL$Y(K*PCqZHMKCA_<2JSbs1u6a=n_SgD|A1k}ag>FVdQ&MBb@08$Sc9RL6T

diff --git a/ca_gazebo/models/Camera_world/Apriltag3/model.config b/ca_gazebo/models/Camera_world/Apriltag3/model.config
deleted file mode 100644
index f4d230230..000000000
--- a/ca_gazebo/models/Camera_world/Apriltag3/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>Apriltag3</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/ca_gazebo/models/Camera_world/Camera/model.config b/ca_gazebo/models/Camera_world/Camera/model.config
deleted file mode 100644
index 892199689..000000000
--- a/ca_gazebo/models/Camera_world/Camera/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>Camera</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/ca_gazebo/models/Camera_world/Camera/model.sdf b/ca_gazebo/models/Camera_world/Camera/model.sdf
deleted file mode 100644
index 4fd1d39d1..000000000
--- a/ca_gazebo/models/Camera_world/Camera/model.sdf
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='Camera'>
-  <static>1</static>
-  <link name='link'>
-    <visual name='visual'>
-      <geometry>
-        <box>
-          <size>0.1 0.1 0.1</size>
-        </box>
-      </geometry>
-    </visual>
-    <sensor name='camera_2_link' type='camera'>
-      <camera>
-        <save enabled="true">
-          <path>/create_ws/src/camera_save_tutorial2</path>
-        </save>
-        <horizontal_fov>1.047</horizontal_fov>
-        <image>
-          <width>1920</width>
-          <height>1080</height>
-        </image>
-        <clip>
-          <near>0.1</near>
-          <far>100</far>
-        </clip>
-      </camera>
-      <always_on>1</always_on>
-      <update_rate>30</update_rate>
-    </sensor>
-  </link>
-  </model>
-</sdf>
diff --git a/ca_gazebo/models/Camera_world/Walls/model.config b/ca_gazebo/models/Camera_world/Walls/model.config
deleted file mode 100644
index 922149ec9..000000000
--- a/ca_gazebo/models/Camera_world/Walls/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>Walls</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
\ No newline at end of file
diff --git a/ca_gazebo/models/Camera_world/Apriltag1/materials/scripts/textures.material b/ca_gazebo/models/camera_world/apriltag1/materials/scripts/textures.material
similarity index 85%
rename from ca_gazebo/models/Camera_world/Apriltag1/materials/scripts/textures.material
rename to ca_gazebo/models/camera_world/apriltag1/materials/scripts/textures.material
index 53df6acc1..02a0ba3f4 100644
--- a/ca_gazebo/models/Camera_world/Apriltag1/materials/scripts/textures.material
+++ b/ca_gazebo/models/camera_world/apriltag1/materials/scripts/textures.material
@@ -1,4 +1,4 @@
-material Apriltag1
+material apriltag1
 {
   technique
   {
@@ -11,4 +11,5 @@ material Apriltag1
       }
     }
   }
-}
\ No newline at end of file
+}
+
diff --git a/ca_gazebo/models/camera_world/apriltag1/materials/textures/apriltag1.png b/ca_gazebo/models/camera_world/apriltag1/materials/textures/apriltag1.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdbeebd32c17c99c2aa4791537379bf01dd994cd
GIT binary patch
literal 113
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zkT`dsH_>VXBhTawj592{luCFbd=Ggl7hhm(^Q<u3q?dB{L=FS5+)j7vz+b0<W-xfV
L`njxgN@xNA(QzNV

literal 0
HcmV?d00001

diff --git a/ca_gazebo/models/camera_world/apriltag1/model.config b/ca_gazebo/models/camera_world/apriltag1/model.config
new file mode 100644
index 000000000..22d55ed65
--- /dev/null
+++ b/ca_gazebo/models/camera_world/apriltag1/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>SDF model for apriltag1</description>
+</model>
diff --git a/ca_gazebo/models/Camera_world/Apriltag2/model.sdf b/ca_gazebo/models/camera_world/apriltag1/model.sdf
similarity index 79%
rename from ca_gazebo/models/Camera_world/Apriltag2/model.sdf
rename to ca_gazebo/models/camera_world/apriltag1/model.sdf
index 2d0829de9..05c5a41ad 100644
--- a/ca_gazebo/models/Camera_world/Apriltag2/model.sdf
+++ b/ca_gazebo/models/camera_world/apriltag1/model.sdf
@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
-  <model name='Apriltag2'>
+  <model name='apriltag1'>
   <static>1</static>
     <link name="box">
       <pose frame=''>0 0 0 0 0 0</pose>
@@ -19,9 +19,9 @@
         </geometry>
         <material>
           <script>
-            <uri>model://Camera_world/Apriltag2/materials/scripts </uri>
-            <uri>model://Camera_world/Apriltag2/materials/textures </uri>
-            <name>Apriltag2</name>
+            <uri>model://camera_world/apriltag1/materials/scripts </uri>
+            <uri>model://camera_world/apriltag1/materials/textures </uri>
+            <name>apriltag1</name>
           </script>
           <ambient>1 1 1 1</ambient>
           <diffuse>1 1 1 1</diffuse>
diff --git a/ca_gazebo/models/Camera_world/Apriltag2/materials/scripts/textures.material b/ca_gazebo/models/camera_world/apriltag2/materials/scripts/textures.material
similarity index 86%
rename from ca_gazebo/models/Camera_world/Apriltag2/materials/scripts/textures.material
rename to ca_gazebo/models/camera_world/apriltag2/materials/scripts/textures.material
index 99fe87b19..eecab287d 100644
--- a/ca_gazebo/models/Camera_world/Apriltag2/materials/scripts/textures.material
+++ b/ca_gazebo/models/camera_world/apriltag2/materials/scripts/textures.material
@@ -1,4 +1,4 @@
-material Apriltag2
+material apriltag2
 {
   technique
   {
@@ -12,3 +12,4 @@ material Apriltag2
     }
   }
 }
+
diff --git a/ca_gazebo/models/camera_world/apriltag2/materials/textures/apriltag2.png b/ca_gazebo/models/camera_world/apriltag2/materials/textures/apriltag2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae6045ff4ff6456dd685c70273cb166b51a51bb8
GIT binary patch
literal 111
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zaNuc@h-9~N2;xXgV2<#03g;1bpYD=AIZsxPXX^2{ax)|tSeBkP4d?jK3^akk)78&q
Iol`;+0OP<K_y7O^

literal 0
HcmV?d00001

diff --git a/ca_gazebo/models/camera_world/apriltag2/model.config b/ca_gazebo/models/camera_world/apriltag2/model.config
new file mode 100644
index 000000000..19505c6ba
--- /dev/null
+++ b/ca_gazebo/models/camera_world/apriltag2/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag2</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>SDF model for apriltag2</description>
+</model>
diff --git a/ca_gazebo/models/Camera_world/Apriltag1/model.sdf b/ca_gazebo/models/camera_world/apriltag2/model.sdf
similarity index 78%
rename from ca_gazebo/models/Camera_world/Apriltag1/model.sdf
rename to ca_gazebo/models/camera_world/apriltag2/model.sdf
index 6ed94e065..1cf583738 100644
--- a/ca_gazebo/models/Camera_world/Apriltag1/model.sdf
+++ b/ca_gazebo/models/camera_world/apriltag2/model.sdf
@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
-  <model name='Apriltag1'>
+  <model name='apriltag2'>
   <static>1</static>
     <link name="box">
       <pose frame=''>0 0 0 0 0 0</pose>
@@ -19,9 +19,9 @@
         </geometry>
         <material>
           <script>
-            <uri>model://Camera_world/Apriltag1/materials/scripts </uri>
-            <uri>model://Camera_world/Apriltag1/materials/textures </uri>
-            <name>Apriltag1</name>
+            <uri>model://camera_world/apriltag2/materials/scripts </uri>
+            <uri>model://camera_world/apriltag2/materials/textures </uri>
+            <name>apriltag2</name>
           </script>
           <ambient>1 1 1 1</ambient>
           <diffuse>1 1 1 1</diffuse>
@@ -31,4 +31,4 @@
       </visual>
     </link>
   </model>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/ca_gazebo/models/Camera_world/Apriltag3/materials/scripts/textures.material b/ca_gazebo/models/camera_world/apriltag3/materials/scripts/textures.material
similarity index 86%
rename from ca_gazebo/models/Camera_world/Apriltag3/materials/scripts/textures.material
rename to ca_gazebo/models/camera_world/apriltag3/materials/scripts/textures.material
index 5f2a260de..e7a7e992a 100644
--- a/ca_gazebo/models/Camera_world/Apriltag3/materials/scripts/textures.material
+++ b/ca_gazebo/models/camera_world/apriltag3/materials/scripts/textures.material
@@ -1,4 +1,4 @@
-material Apriltag3
+material apriltag3
 {
   technique
   {
@@ -12,3 +12,4 @@ material Apriltag3
     }
   }
 }
+
diff --git a/ca_gazebo/models/camera_world/apriltag3/materials/textures/apriltag3.png b/ca_gazebo/models/camera_world/apriltag3/materials/textures/apriltag3.png
new file mode 100644
index 0000000000000000000000000000000000000000..901a589f07ce288955b4c960082d4376bfaf10fa
GIT binary patch
literal 117
zcmeAS@N?(olHy`uVBq!ia0vp^oFL4>1|%O$WD@{VHl8kyAr*1SKloXBcz6udWDXoT
zpwiLIy;$QA+k>tNr3n*TF0SYbSaUE<R!-P(Z8IZ}>kfk$!C871yoVXYo}V_24tZDr
PG>5^{)z4*}Q$iB}l^r4O

literal 0
HcmV?d00001

diff --git a/ca_gazebo/models/camera_world/apriltag3/model.config b/ca_gazebo/models/camera_world/apriltag3/model.config
new file mode 100644
index 000000000..8bbd5ce87
--- /dev/null
+++ b/ca_gazebo/models/camera_world/apriltag3/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag3</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>SDF model for apriltag3</description>
+</model>
diff --git a/ca_gazebo/models/camera_world/camera/model.config b/ca_gazebo/models/camera_world/camera/model.config
new file mode 100644
index 000000000..d268baac2
--- /dev/null
+++ b/ca_gazebo/models/camera_world/camera/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>camera</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>SDF model for camera</description>
+</model>
diff --git a/ca_gazebo/models/camera_world/camera/model.sdf b/ca_gazebo/models/camera_world/camera/model.sdf
new file mode 100644
index 000000000..58d5856b3
--- /dev/null
+++ b/ca_gazebo/models/camera_world/camera/model.sdf
@@ -0,0 +1,94 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='camera'>
+  <static>1</static>
+  <link name='camera_link'>
+    <visual name='visual'>
+      <geometry>
+        <box>
+          <size>0.1 0.1 0.1</size>
+        </box>
+      </geometry>
+    </visual>
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>create1/camera1</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>camera_link</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </link>
+  
+  <joint name="camera_optical_joint" type="fixed">
+     <parent>camera_link</parent>
+     <child>camera_optical_frame</child>
+     <pose frame=''>0 0 0 0 1.57 0</pose>
+   </joint>
+
+  <link name="camera_optical_frame"/>
+
+<!--  <gazebo reference="camera_link">
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>create1/camera1</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>camera_link</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>-->
+  </model>
+</sdf>
diff --git a/ca_gazebo/models/Camera_world/model.config b/ca_gazebo/models/camera_world/model.config
similarity index 100%
rename from ca_gazebo/models/Camera_world/model.config
rename to ca_gazebo/models/camera_world/model.config
diff --git a/ca_gazebo/models/camera_world/walls/model.config b/ca_gazebo/models/camera_world/walls/model.config
new file mode 100644
index 000000000..c2301d390
--- /dev/null
+++ b/ca_gazebo/models/camera_world/walls/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>walls</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>Walls necessary to create an square room</description>
+</model>
diff --git a/ca_gazebo/models/Camera_world/Walls/model.sdf b/ca_gazebo/models/camera_world/walls/model.sdf
similarity index 99%
rename from ca_gazebo/models/Camera_world/Walls/model.sdf
rename to ca_gazebo/models/camera_world/walls/model.sdf
index 4aaa9bd39..cbd7772ce 100644
--- a/ca_gazebo/models/Camera_world/Walls/model.sdf
+++ b/ca_gazebo/models/camera_world/walls/model.sdf
@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
-  <model name='Walls'>
+  <model name='walls'>
   <static>1</static>
     <link name='Wall_0'>
     <pose frame=''>0 0 0 0 -0 0</pose>
@@ -327,4 +327,4 @@
     </link>
 
   </model>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/ca_gazebo/worlds/camera_world.world b/ca_gazebo/worlds/camera_world.world
index 35f8615a2..ce4205403 100644
--- a/ca_gazebo/worlds/camera_world.world
+++ b/ca_gazebo/worlds/camera_world.world
@@ -1,31 +1,22 @@
 <?xml version="1.0"?>
 <sdf version='1.6'>
   <world name='default'>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose>0 4 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>
+  
+    <include>
+      <uri>model://sun</uri>
+    </include>
 
     <include>
-      <uri>model://Camera_world/Walls</uri>  
+      <uri>model://camera_world/walls</uri>  
     </include>
 
     <include>
-      <uri>model://Camera_world/Apriltag1</uri>
+      <uri>model://camera_world/apriltag1</uri>
       <pose>3 7 0 0 0 0</pose>
     </include>
  
      <include>
-      <uri>model://Camera_world/Apriltag2</uri>
+      <uri>model://camera_world/apriltag2</uri>
       <pose>-3 7 0 0 0 0</pose>
     </include>
 
@@ -34,8 +25,8 @@
     </include>
 
     <include>
-      <uri>model://Camera_world/Camera</uri>
-      <pose>0 4 16 0 1.57 0</pose>
+      <uri>model://camera_world/camera</uri>
+      <pose>0 4 12 0 1.57 0</pose>
     </include>
 
   </world>