minor changes in launch script and model scripts

README

@@ -11,4 +11,6 @@ terminal2: roslaunch simulation_control px4.launch fcu_url:="udp://:14550@127.0.
 
 terminal3: roslaunch simulation_control simulation_control.launch 
 
+you might want to delete  line 439 - 482 in the world file if gazebo doesnt startup, its just house in the map 
+
 have fun

src/models/apriltag/model.config

+<model> 
+<name>AprilTag 36h11 0</name> 
+<version>1.0</version> 
+<sdf version="1.4">model.sdf</sdf>
+
+<description>
+  April Tag 36h11 tag 0.
+</description>
+</model>

src/models/apriltag/model.sdf

+<?xml version="1.0"?>
+<sdf version="1.4">
+<model name="apriltag">
+  <static>false</static>
+    <link name="link">
+     <inertial>
+        <mass>20</mass>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>1 1 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+        <box>
+            <size>1 1 0.5</size>
+
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>AprilTag/Image</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>

src/scripts/descend_on_object_server.py

@@ -2,7 +2,6 @@
 import rospy
 import actionlib
 import simulation_control.msg
-#from apriltags2_ros.msg import AprilTagDetectionArray
 from geometry_msgs.msg import PoseStamped, Point
 from std_msgs.msg import Bool, String
 

src/scripts/detect_object_server.py

@@ -2,7 +2,6 @@
 import rospy
 import actionlib
 import simulation_control.msg
-from apriltags2_ros.msg import AprilTagDetectionArray
 
 from geometry_msgs.msg import PoseStamped, Point
 class detect_object_server():