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Better world launch #89

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Better world launch #89

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249c26a
Add conditional logic for starting seabed world models
eminmeydanoglu Dec 7, 2024
2fc7a62
Set gazebo model path automatically
eminmeydanoglu Dec 7, 2024
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7 changes: 4 additions & 3 deletions auv_sim/auv_sim_bringup/launch/inc/start_world.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<launch>
<arg name="gui" default="true" />
<arg name="debug" default="false" />
<arg name="world_name" default="$(find auv_sim_description)/worlds/seabed.world" />
<arg name="world_name"/>
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We already specify the default world in the main launch file. Why choose a default one here again? Deleted.

<arg name="namespace" default="taluy" />
<arg name="velocity_control" default="true" />
<arg name="joy_id" default="0" />
Expand All @@ -16,8 +16,9 @@
<arg name="verbose" value="true" />
</include>

<node name="publish_world_models" pkg="uuv_assistants" type="publish_world_models.py"
output="screen">
<node if="$(eval arg('world_name') == '$(find auv_sim_description)/worlds/seabed.world')"
name="publish_world_models" pkg="uuv_assistants" type="publish_world_models.py"
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This node is only relevant to the seabed world. Dont need it at times we run a world that is not the seabed world.

output="screen">
<rosparam command="load" file="$(find auv_sim_bringup)/config/world_models.yaml" />
</node>
</launch>
5 changes: 3 additions & 2 deletions auv_sim/auv_sim_bringup/launch/start_gazebo.launch
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Original file line number Diff line number Diff line change
@@ -1,13 +1,14 @@
<?xml version="1.0"?>
<launch>
<env name="GAZEBO_MODEL_PATH" value="$(find auv_sim_description)/models:${GAZEBO_MODEL_PATH}"/>
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@eminmeydanoglu eminmeydanoglu Dec 7, 2024 •
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Set gazebo model path automatically for everyone for convenience. Works as intended 👍

<arg name="namespace" default="taluy" />
<arg name="control_rate" default="20.0" />
<arg name="use_ned_frame" default="false" />
<arg name="reference_frame" value="world" />

<arg name="use_gui" default="true" />
<arg name="debug" default="false" />
<arg name="world_name" default="$(find auv_sim_description)/worlds/seabed.world" />
<arg name="world_name" default="$(find auv_sim_description)/worlds/pool.world" />
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Under normal circumstances, it is preferable to set the pool world as default.

<arg name="velocity_control" default="true" />
<arg name="joy_id" default="0" />

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