add new map

Signed-off-by: ijnek <kenjibrameld@gmail.com>

CMakeLists.txt

 cmake_minimum_required(VERSION 3.5)
-project(comp3431-ass3-worlds)
+project(comp3431_ass3_worlds)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

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')
 

package.xml

 <?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>

worlds/house1.model

@@ -53,7 +53,7 @@
         <uri>model://living_room/</uri>
       </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>
       </include>
       <include>
@@ -65,7 +65,7 @@
         <uri>model://pantry/</uri>
       </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>
       </include>
       <include>