dear sven,
very good question! In the simulation, there is a "random (i.e. system time)" seed for the random number generator, which produces a different outcome in every run. This behaviour is intended, since there are never going to be the same noise conditions in a real system and contestant solutions should be able to handle this.
For the final evaluation, we will choose a fixed seed such that starting conditions are the same for each team. If you want to fix the seed for debugging purposes, you can do the following:
Add this line
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<randomEngineSeed>YOUR_COSTOM_INTEGER_SEED</randomEngineSeed>
to euroc_simulation_server/urdf/firefly_tX_X.gazebo.xacro
between the
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<plugin filename="libmav_gazebo_pose_plugin.so" name="pose_sensorX"> ... </plugin>
tags for the pose_plugin(s), and
in euroc_simulation_server/urdf/firefly_base.urdf.xacro between the
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<plugin filename="libhector_gazebo_ros_imu.so" name="imu_ros"> ... </plugin>
tags