trouble using extern .world

edit

Hi everyone,

I'm currently working with this great package (rrt_exploration) and i'm trying to use different map to simulate my environment on gazebo. I tested the map including in the package, and also some map from gazebo package (as willow garage).

Currently i'm trying to use these worlds on the package but it doesn't work.

My guess is that there is different type of .world : for instance here is the code of one of the working world :

<?xml version="1.0" ?>
<sdf version="1.4">
 <world name="default">
<include>
  <uri>model://ground_plane</uri>
</include>
<include>
  <uri>model://sun</uri>
</include>


<model name="floor">
   <pose>0 0 -0.110060  0 0 0</pose>
  <static>false</static>
  <link name="floorPlan">
    <visual name="visual">
      <geometry>
        <mesh><uri>file://largeMap.dae</uri></mesh>
      </geometry>
    </visual>


    <collision name="collision">
      <geometry>
        <mesh><uri>file://largeMap.dae</uri></mesh>
      </geometry>
    </collision>
  </link>
</model>
</world>
</sdf>

and here is (a part of) the .world i'm trying to use :

<sdf version='1.6'>
<world name='default'>
<scene>
  <shadows>0</shadows>
  <ambient>0.4 0.4 0.4 1</ambient>
  <background>0.7 0.7 0.7 1</background>
</scene>
<light name='sun' type='directional'>
  <cast_shadows>0</cast_shadows>
  <pose frame=''>0 0 5 0 -0 0</pose>
  <diffuse>0.8 0.8 0.8 1</diffuse>
  <specular>0.1 0.1 0.1 1</specular>
  <attenuation>
    <range>1000</range>
    <constant>0.9</constant>
    <linear>0.01</linear>
    <quadratic>0.001</quadratic>
  </attenuation>
  <direction>-0.5 0.5 -1</direction>
</light>
<physics name='default_physics' default='0' type='ode'>
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
  <ambient>0.4 0.4 0.4 1</ambient>
  <background>0.7 0.7 0.7 1</background>
  <shadows>1</shadows>
</scene>
<spherical_coordinates>
  <surface_model>EARTH_WGS84</surface_model>
  <latitude_deg>0</latitude_deg>
  <longitude_deg>0</longitude_deg>
  <elevation>0</elevation>
  <heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='ground_plane'>
  <static>1</static>
  <link name='link'>
    <collision name='collision'>
      <geometry>
        <plane>
          <normal>0 0 1</normal>
          <size>100 100</size>
        </plane>
      </geometry>
      <surface>
        <friction>
          <ode>
            <mu>1</mu>
            <mu2>1</mu2>
          </ode>
          <torsional>
            <ode/>
          </torsional>
        </friction>
        <bounce/>
        <contact>
          <ode/>
        </contact>
      </surface>
      <max_contacts>10</max_contacts>
    </collision>
    <visual name='visual'>
      <cast_shadows>0</cast_shadows>
      <geometry>
        <plane>
          <normal>0 0 1</normal>
          <size>100 100</size>
        </plane>
      </geometry>
      <material>

(not the complete code : it's about 38903 lines...

My question is : what's the difference between these two files .world, and how can i use the second one on my simulation ?

Thanks in advance !

EDIT : it seems to be a compatibility problem :

    Warning [parser.cc:340] Converting a deprecated source[/home/lklk/hugo_ws/src/rrt_exploration_tutorials/launch/includes/worlds/office_earthquake.world].
Warning [Converter.cc:59]   Version[1.6] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Error [Converter.cc:127] Unable to convert from SDF version 1.6 to 1.4
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:478 ...