Benjamin Perseghetti

> by putting some default values to the environment variables if not set. For example, if 'PX4_GZ_WORLD': 'default' is not filled then the startup crashes where obviously it could be...

This looks like a really great new feature add.

Thanks for the contribution. Looking over this I'm not sure if this makes sense to me for an Ackermann based vehicle. The problem resides in the fact that angular velocity...

> Can we rescope this PR to this for UpdateVelocity:  > > This already exists for UpdateAngle. aka. steering only. > > In simulation, our robot is turning quite...

@retinfai, please make sure to rebase your branch on the latest merge for gz-sim8 (which includes the changes to the ackermann plugin) before creating that PR.

> Interestingly @bperseghetti noted that at least on mesa 22/23 `d3d12` does not list compatibility with `GL_ARB_copy_image` extension, but it list compatibility with `GL_NV_copy_image`: > > ``` > traversaro@IITICUBLAP257:~$ glxinfo...