From 179b0e18331b376c5576dee6a91867c15e18e405 Mon Sep 17 00:00:00 2001
From: guisoares9 <55659910+guisoares9@users.noreply.github.com>
Date: Thu, 23 Jun 2022 22:05:44 -0300
Subject: [PATCH 1/4] Update clover.world

---
 clover_simulation/resources/worlds/clover.world | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clover_simulation/resources/worlds/clover.world b/clover_simulation/resources/worlds/clover.world
index f9f2eb9b51..7715cdc281 100644
--- a/clover_simulation/resources/worlds/clover.world
+++ b/clover_simulation/resources/worlds/clover.world
@@ -11,8 +11,8 @@
     </include>
 
     <scene>
-      <ambient>0.1 0.1 0.1 1</ambient>
-      <background>0.1 0.1 0.1 1</background>
+      <ambient>0.8 0.8 0.8 1</ambient>
+      <background>0.8 0.9 1 1</background>
       <shadows>false</shadows>
       <grid>false</grid>
       <origin_visual>false</origin_visual>

From 513e30520dfe146943d83ae18c672a3249388c7f Mon Sep 17 00:00:00 2001
From: guisoares9 <55659910+guisoares9@users.noreply.github.com>
Date: Thu, 23 Jun 2022 22:06:29 -0300
Subject: [PATCH 2/4] Update clover_aruco.world

---
 clover_simulation/resources/worlds/clover_aruco.world | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clover_simulation/resources/worlds/clover_aruco.world b/clover_simulation/resources/worlds/clover_aruco.world
index b012d3ae85..7b3b736f38 100644
--- a/clover_simulation/resources/worlds/clover_aruco.world
+++ b/clover_simulation/resources/worlds/clover_aruco.world
@@ -15,8 +15,8 @@
     </include>
 
     <scene>
-      <ambient>0.1 0.1 0.1 1</ambient>
-      <background>0.1 0.1 0.1 1</background>
+      <ambient>0.8 0.8 0.8 1</ambient>
+      <background>0.8 0.9 1 1</background>
       <shadows>false</shadows>
       <grid>false</grid>
       <origin_visual>false</origin_visual>

From 0c4d642b578bced79bbc1baf3fe39071f81a0d59 Mon Sep 17 00:00:00 2001
From: guisoares9 <55659910+guisoares9@users.noreply.github.com>
Date: Thu, 23 Jun 2022 22:07:38 -0300
Subject: [PATCH 3/4] Update simulator.launch

---
 clover_simulation/launch/simulator.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch
index e7fd9dcf07..30c036cb33 100644
--- a/clover_simulation/launch/simulator.launch
+++ b/clover_simulation/launch/simulator.launch
@@ -3,8 +3,8 @@
     <arg name="mav_id" default="0"/>
     <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
     <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
-    <arg name="main_camera" default="false"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
-    <arg name="maintain_camera_rate" default="true"/> <!-- Slow simulation down to maintain camera rate -->
+    <arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
+    <arg name="maintain_camera_rate" default="false"/> <!-- Slow simulation down to maintain camera rate -->
     <arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
     <arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
     <arg name="gps" default="false"/> <!--Simulated GPS module -->

From c030cb8d37c79337be4ed1ff58e13f87c197ada4 Mon Sep 17 00:00:00 2001
From: guisoares9 <55659910+guisoares9@users.noreply.github.com>
Date: Thu, 23 Jun 2022 22:10:56 -0300
Subject: [PATCH 4/4] Delete clover_light.world

---
 .../resources/worlds/clover_light.world       | 62 -------------------
 1 file changed, 62 deletions(-)
 delete mode 100644 clover_simulation/resources/worlds/clover_light.world

diff --git a/clover_simulation/resources/worlds/clover_light.world b/clover_simulation/resources/worlds/clover_light.world
deleted file mode 100644
index 1644f8314d..0000000000
--- a/clover_simulation/resources/worlds/clover_light.world
+++ /dev/null
@@ -1,62 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.5">
-  <world name="default">
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <include>
-      <uri>model://parquet_plane</uri>
-      <pose>0 0 -0.01 0 0 0</pose>
-    </include>
-
-    <!-- <include>
-      <uri>model://aruco_cmit_txt</uri>
-    </include> -->
-
-    <scene>
-      <ambient>0.8 0.8 0.8 1</ambient>
-      <background>0.8 0.9 1 1</background>
-      <shadows>false</shadows>
-      <grid>false</grid>
-      <origin_visual>false</origin_visual>
-    </scene>
-    
-    <light type="point" name="point">
-        <pose>0 2 2 0 0 0</pose>
-        <diffuse>1 1 1 1</diffuse>
-        <specular>.1 .1 .1 1</specular>
-        <attenuation>
-          <range>20</range>
-          <linear>0.2</linear>
-          <constant>0.8</constant>
-          <quadratic>0.01</quadratic>
-        </attenuation>
-        <cast_shadows>false</cast_shadows>
-      </light>
-
-    
-
-    <physics name='default_physics' default='0' type='ode'>
-      <gravity>0 0 -9.8066</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>10</iters>
-          <sor>1.3</sor>
-          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
-        </solver>
-        <constraints>
-          <cfm>0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100</contact_max_correcting_vel>
-          <contact_surface_layer>0.001</contact_surface_layer>
-        </constraints>
-      </ode>
-      <max_step_size>0.004</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
-      <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
-    </physics>
-  </world>
-</sdf>