Hello,

I use Gazebo-8. I load a DEM file as a ground into gazebo and I'm using the ardupilotgazebo plugin to simulate the behavior of a drone in a real environment. My issue is that gazebo load the North of my DEM pointing toward the Y axis but the IMU from the ardupilotgazebo plugin sees the North toward the X axis.

Is there a way to rotate the DEM/Ground model so that the North directions match ?

Here is what I do to load my DEM :

<world name="my_world_name">
...
  <model name="ground">
   <static>true</static>
   <link name="ground_link">
     <collision name="ground_collision">
       <geometry>
         <heightmap>
           <uri>file://path/to/my/file.dem</uri>
         </heightmap>
       </geometry>
     </collision>
     <visual name="ground_visual">
       <geometry>
         <heightmap>
           <texture>
             <diffuse>file://path/to/my/file.jpg</diffuse>
             <normal>file://media/materials/textures/tile/flat_normal.png</normal>
           </texture>
           <uri>file://path/to/my/file.dem</uri>
         </heightmap>
       </geometry>
     </visual>
   </link>
  </model>
....
</world>

Regards.

<world name="your_world_name">
  ...
  <include>
    <uri>model://path/to/your/dem</uri>
    <pose>0 0 0 0 0 1.5707</pose>
  </include>
  ...
</world>

<model name="ground">
   <static>true</static>
   <pose>0 0 0 0 0 1.5707</pose>
   <link name="ground_link">