README.md

Orca4 SDF Files

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:

1. static transforms are published by instances tf2_ros/static_transform_publisher
2. Rviz2 will only show transforms (Rviz2 can't read SDF)