Enable GPS in Gazebo + Iris + Mavros (SITL)

Hello everyone!

How can I run a simulation with IRIS and GPS onboard. I want to set global positions

Thank you

Hi there,

Have you seen these docs?

Yes, I have seen it. Actually, I found iris irlock world, but it seems a little bit complicating adding my own world objects. Currently I copy stuff from another file and paste it here, but is it the best solution?

Also I wonder where to get information about how to use lidar (distance sensor)? For example, to build a 3D map and then to store it to generate a path