From ad746819c6ee2ba16a407b56b701bf6da08b9888 Mon Sep 17 00:00:00 2001
From: ijnek <kenjibrameld@gmail.com>
Date: Thu, 4 Nov 2021 19:17:28 +0900
Subject: [PATCH] add new map

Signed-off-by: ijnek <kenjibrameld@gmail.com>
---
 CMakeLists.txt          |  2 +-
 launch/house1.launch.py |  5 +--
 package.xml             |  2 +-
 worlds/house1.model     | 80 ++++++++++++++++++++---------------------
 4 files changed, 45 insertions(+), 44 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e86686..b8564fb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(comp3431-ass3-worlds)
+project(comp3431_ass3_worlds)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
diff --git a/launch/house1.launch.py b/launch/house1.launch.py
index 66a26d3..094440b 100644
--- a/launch/house1.launch.py
+++ b/launch/house1.launch.py
@@ -29,9 +29,10 @@ TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
 
 def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time', default='true')
-    world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model'
-    world = os.path.join(get_package_share_directory('turtlebot3_gazebo'),
+    world_file_name = 'house1.model'
+    world = os.path.join(get_package_share_directory('comp3431_ass3_worlds'),
                          'worlds', world_file_name)
+    print("world: " + world)
     launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
     pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
 
diff --git a/package.xml b/package.xml
index cb9b218..03a2413 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>comp3431-ass3-worlds</name>
+  <name>comp3431_ass3_worlds</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="kenjibrameld@gmail.com">ijnek</maintainer>
diff --git a/worlds/house1.model b/worlds/house1.model
index c654116..dcd1df7 100644
--- a/worlds/house1.model
+++ b/worlds/house1.model
@@ -48,46 +48,46 @@
       <include>
         <uri>model://turtlebot3_house</uri>
       </include>
-    <include>
-		  <pose>-3.0 0.5 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://living_room/</uri>
-	  </include>
-    <include>
-		  <pose>-7.0 -3.5 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://storage_room/</uri>
-	  </include>
-    <include>
-		  <pose>-7.0 -3.5 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://study/</uri>
-	  </include>
-    <include>
-		  <pose>2.0 3.0 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://pantry/</uri>
-	  </include>
-    <include>
-		  <pose>5.0 3.0 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://dining_room/</uri>
-	  </include>
-    <include>
-		  <pose>6.0 -2.0 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://kitchen/</uri>
-	  </include>
-	  <include>
-		  <pose>-4.0 3.5 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://apple/</uri>
-	  </include>
-	  <include>
-		  <pose>4.0 4.5 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://banana/</uri>
-	  </include>
-	  <include>
-		  <pose>-6.0 -0.5 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://orange/</uri>
-	  </include>
-	  <include>
-		  <pose>3.5 2 0.1 0.0 0.0 0.0</pose>
-		  <uri>model://coffee/</uri>
-	  </include>
+      <include>
+        <pose>-3.0 0.5 0.1 0.0 0.0 0.0</pose>
+        <uri>model://living_room/</uri>
+      </include>
+      <include>
+        <pose>-7.0 2.0 0.1 0.0 0.0 0.0</pose>
+        <uri>model://storage_room/</uri>
+      </include>
+      <include>
+        <pose>-7.0 -3.5 0.1 0.0 0.0 0.0</pose>
+        <uri>model://study/</uri>
+      </include>
+      <include>
+        <pose>2.0 3.0 0.1 0.0 0.0 0.0</pose>
+        <uri>model://pantry/</uri>
+      </include>
+      <include>
+        <pose>5.0 1.5 0.1 0.0 0.0 0.0</pose>
+        <uri>model://dining_room/</uri>
+      </include>
+      <include>
+        <pose>6.0 -2.0 0.1 0.0 0.0 0.0</pose>
+        <uri>model://kitchen/</uri>
+      </include>
+      <include>
+        <pose>-4.0 3.5 0.1 0.0 0.0 0.0</pose>
+        <uri>model://apple/</uri>
+      </include>
+      <include>
+        <pose>4.0 4.5 0.1 0.0 0.0 0.0</pose>
+        <uri>model://banana/</uri>
+      </include>
+      <include>
+        <pose>-6.0 -0.5 0.1 0.0 0.0 0.0</pose>
+        <uri>model://orange/</uri>
+      </include>
+      <include>
+        <pose>3.5 2 0.1 0.0 0.0 0.0</pose>
+        <uri>model://coffee/</uri>
+      </include>
     </model>
      
     <include>
-- 
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