Toward consistent local (Gazebo) and geographic (GPS) coordinates.

[bsb808]

Begins to address Issue #353 .

This PR is on top of PR #354 , so probably best to merge that one first, then rebase before merging.

• Remove the 180 deg rotation of the Sydney Regatta which causes issue Is the Sydney Regatta map orientation correct? #353.
• Modification the model pose values insydneyregatta.xacro so that the models (post, ground stations, etc.) are in the same location relative to the Regatta map.
• Mod. of world file to change camera view
• Mod. of the launch file change WAM-V default initial pose.

I checked the consistency of the Gazebo / Hector GPS coordinates with Google Earth...

I have not yet tried the various VRX tasks to see what other local coordinate values need to be modified to maintain the desired relative location of models.

[M1chaelM]

@bsb808 Looking at this now. Since it is on top of #354, why don't we change the merge target to bsb/use_spherical so we can test both together before merging either into the master?

[caguero]

Consider to look at this pull request in Ignition Math in case we're impacted with the SphericalCoordinates fix detailed in that PR.

I see that in stationkeeping_scoring_plugin.cc and wildlife_scoring_plugin.cc we're using SphericalFromLocal(). I think we should replace them with:

world->SphericalCoords()->PositionTransform(cartVec,
        ignition::math::SphericalCoordinates::LOCAL2,
        ignition::math::SphericalCoordinates::GLOBAL);

and

world->SphericalCoords()->PositionTransform(pose.Pos(),
        ignition::math::SphericalCoordinates::LOCAL2,
        ignition::math::SphericalCoordinates::GLOBAL);

[bsb808]

Also, see #358 - has additional documentation on this issue.

[bsb808]

Closing b/c we are working directly on #354