Change empty to default

Author: javizqh

CustomRobots/drone_assets/bridges/rescue_people.yaml

@@ -7,7 +7,7 @@
 
 # gz topic published by IMU plugin
 - ros_topic_name: "sensor_measurements/imu"
-  gz_topic_name: "/world/empty/model/drone0/model/imu/link/internal/sensor/imu/imu"
+  gz_topic_name: "/world/default/model/drone0/model/imu/link/internal/sensor/imu/imu"
   ros_type_name: "sensor_msgs/msg/Imu"
   gz_type_name: "gz.msgs.IMU"
   direction: GZ_TO_ROS
@@ -20,7 +20,7 @@
   direction: GZ_TO_ROS
 
 - ros_topic_name: "/tf"
-  gz_topic_name: "/world/empty/model/drone0/pose"
+  gz_topic_name: "/world/default/model/drone0/pose"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
@@ -32,7 +32,7 @@
   direction: GZ_TO_ROS
 
 - ros_topic_name: "/tf"
-  gz_topic_name: "/world/empty/model/drone0/pose_static"
+  gz_topic_name: "/world/default/model/drone0/pose_static"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
@@ -59,25 +59,25 @@
 
 # Payload plugin
 - ros_topic_name: "sensor_measurements/frontal_camera/image_raw"
-  gz_topic_name: "/world/empty/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/image"
+  gz_topic_name: "/world/default/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 
 - ros_topic_name: "sensor_measurements/frontal_camera/camera_info"
-  gz_topic_name: "/world/empty/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/camera_info"
+  gz_topic_name: "/world/default/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
   direction: GZ_TO_ROS
 
 - ros_topic_name: "sensor_measurements/ventral_camera/image_raw"
-  gz_topic_name: "/world/empty/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/image"
+  gz_topic_name: "/world/default/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 
 - ros_topic_name: "sensor_measurements/ventral_camera/camera_info"
-  gz_topic_name: "/world/empty/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/camera_info"
+  gz_topic_name: "/world/default/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
-  direction: GZ_TO_ROS
+  direction: GZ_TO_ROS

jderobot_drones/sim_config/gzsim/world.json

@@ -1,5 +1,5 @@
 {
-    "world_name": "empty",
+    "world_name": "default",
     "drones": [
         {
             "model_type": "quadrotor_base",

jderobot_drones/sim_config/px4_classic/world.json

@@ -1,5 +1,5 @@
 {
-    "world": "empty",
+    "world": "default",
     "drones": [
         {
             "model": "iris_fpv",