Trying to change the world in gazebo

ArduCopter
1

Hello, I am trying to change the world in iris_runway.launch.py to use iris_maze.sdf instead of iris_runway.sdf, but I am unable to get it to work.

Steps Taken:

  1. I modified iris_runway.launch.py and replaced all references to iris_runway.sdf with iris_maze.sdf.
  2. I sourced my environment.
  3. I ran the launch command: ros2 launch ardupilot_gz_bringup iris_runway.launch.py

Issue:

  • Despite the changes, Gazebo still loads iris_runway.sdf.
  • I tried running ros2 launch ardupilot_gz_bringup iris_runway.launch.py --show-args, but the world argument does not appear.
  • I also ran grep -r "iris_runway.sdf" ~/ardu_ws/src/, but no additional references were found.

Expected outcome:

  • I want to use the Iris Runway drone (which has a camera) inside the Iris Maze world (iris_maze.sdf).
  • Ideally, I would also like to later switch to a custom .sdf world file.

Questions:

  1. Is it possible to use iris_maze.sdf with the iris_runway drone?
  2. Is there a better way to modify the launch file to change the world?
  3. Are there any other dependencies that could be overriding the world file?

Thank you for your help!