@E-Krantz this works for me now. There's however something that should be fixed: when one runs the kthspacelab, ATMOS starts with movement because I believe it is set to start at 0, but that's over the fence. The platform should be deployed a little forward to avoid this, can you add that option?

@Pedro-Roque The starting pose can not be set by kthspacelab.sdf. We can add:

PX4_GZ_MODEL_POSE=${PX4_GZ_MODEL_POSE:="1 0 0.1 0 0 0"}

to the airframe file 71002_gz_spacecraft_2d. In that case, spacecraft_2d will spawn at (1, 0, 0.1) by default in all worlds. I think this is the best option.

Alternatively, we can ask the user to set the pose at launch with:

make px4_sitl gz_spacecraft_2d_kthspacelab PX4_GZ_MODEL_POSE='1,0,0.1'

or by using discower_launch.

What do you think?

If we go with the first option, the user can still set other poses with discower_launch and

make px4_sitl gz_spacecraft_2d_kthspacelab PX4_GZ_MODEL_POSE='[some pose]'

I think we can add to discower_launch, and also add to PX4 docs.

In fact, we should start preparing the PX4 docs for spacecraft, as there's quite a few things to add :)

So not adding a default pose, i.e., this line

PX4_GZ_MODEL_POSE=${PX4_GZ_MODEL_POSE:="1 0 0.1 0 0 0"}

to 71002_gz_spacecraft_2d?

In a PR on discower_launch it has already been added. See discower_launch#1.

Exactly, not adding the default pose.

@Pedro-Roque Can this be merged? discower_launch has already been updated with setting the pose for kthspacelab

@E-Krantz done