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Commit ad746819 authored by Kenji Brameld's avatar Kenji Brameld
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add new map


Signed-off-by: default avatarijnek <kenjibrameld@gmail.com>
parent ce41541a
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cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.5)
project(comp3431-ass3-worlds) project(comp3431_ass3_worlds)
# Default to C99 # Default to C99
if(NOT CMAKE_C_STANDARD) if(NOT CMAKE_C_STANDARD)
......
...@@ -29,9 +29,10 @@ TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] ...@@ -29,9 +29,10 @@ TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
def generate_launch_description(): def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='true') use_sim_time = LaunchConfiguration('use_sim_time', default='true')
world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model' world_file_name = 'house1.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), world = os.path.join(get_package_share_directory('comp3431_ass3_worlds'),
'worlds', world_file_name) 'worlds', world_file_name)
print("world: " + world)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros') pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
......
<?xml version="1.0"?> <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>comp3431-ass3-worlds</name> <name>comp3431_ass3_worlds</name>
<version>0.0.0</version> <version>0.0.0</version>
<description>TODO: Package description</description> <description>TODO: Package description</description>
<maintainer email="kenjibrameld@gmail.com">ijnek</maintainer> <maintainer email="kenjibrameld@gmail.com">ijnek</maintainer>
......
...@@ -53,7 +53,7 @@ ...@@ -53,7 +53,7 @@
<uri>model://living_room/</uri> <uri>model://living_room/</uri>
</include> </include>
<include> <include>
<pose>-7.0 -3.5 0.1 0.0 0.0 0.0</pose> <pose>-7.0 2.0 0.1 0.0 0.0 0.0</pose>
<uri>model://storage_room/</uri> <uri>model://storage_room/</uri>
</include> </include>
<include> <include>
...@@ -65,7 +65,7 @@ ...@@ -65,7 +65,7 @@
<uri>model://pantry/</uri> <uri>model://pantry/</uri>
</include> </include>
<include> <include>
<pose>5.0 3.0 0.1 0.0 0.0 0.0</pose> <pose>5.0 1.5 0.1 0.0 0.0 0.0</pose>
<uri>model://dining_room/</uri> <uri>model://dining_room/</uri>
</include> </include>
<include> <include>
......
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