Merge pull request #36 from turtlebot/hilary-luo/updated-worlds

Updated Worlds
turtlebot · Apr 10, 2023 · 7e15438 · 7e15438
2 parents b6901b1 + 95139c9
commit 7e15438
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diff --git a/README.md b/README.md
@@ -2,7 +2,7 @@
 
 Turtlebot4 Simulation using Ignition Gazebo.
 
-Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_packages.html#turtlebot-4-simulator) for details.
+Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_simulator.html) for details.
 
 ## Installation
 ```bash

diff --git a/turtlebot4_ignition_bringup/launch/ignition.launch.py b/turtlebot4_ignition_bringup/launch/ignition.launch.py
@@ -32,8 +32,11 @@
     DeclareLaunchArgument('use_sim_time', default_value='true',
                           choices=['true', 'false'],
                           description='use_sim_time'),
-    DeclareLaunchArgument('world', default_value='depot',
+    DeclareLaunchArgument('world', default_value='warehouse',
                           description='Ignition World'),
+    DeclareLaunchArgument('model', default_value='lite',
+                          choices=['standard', 'lite'],
+                          description='Turtlebot4 Model'),
 ]
 
 

diff --git a/turtlebot4_ignition_bringup/launch/ros_ign_bridge.launch.py b/turtlebot4_ignition_bringup/launch/ros_ign_bridge.launch.py
@@ -35,7 +35,7 @@
                           description='Ignition model name'),
     DeclareLaunchArgument('namespace', default_value='',
                           description='Robot namespace'),
-    DeclareLaunchArgument('world', default_value='depot',
+    DeclareLaunchArgument('world', default_value='warehouse',
                           description='World name'),
     DeclareLaunchArgument('model', default_value='standard',
                           choices=['standard', 'lite'],

diff --git a/turtlebot4_ignition_bringup/launch/turtlebot4_ignition.launch.py b/turtlebot4_ignition_bringup/launch/turtlebot4_ignition.launch.py
@@ -28,7 +28,7 @@
                           description='Robot namespace'),
     DeclareLaunchArgument('rviz', default_value='true',
                           choices=['true', 'false'], description='Start rviz.'),
-    DeclareLaunchArgument('world', default_value='depot',
+    DeclareLaunchArgument('world', default_value='warehouse',
                           description='Ignition World'),
     DeclareLaunchArgument('model', default_value='standard',
                           choices=['standard', 'lite'],

diff --git a/turtlebot4_ignition_bringup/launch/turtlebot4_spawn.launch.py b/turtlebot4_ignition_bringup/launch/turtlebot4_spawn.launch.py
@@ -17,8 +17,8 @@
 
 from ament_index_python.packages import get_package_share_directory
 
-from irobot_create_common_bringup.offset import OffsetParser, RotationalOffsetX, RotationalOffsetY
 from irobot_create_common_bringup.namespace import GetNamespacedName
+from irobot_create_common_bringup.offset import OffsetParser, RotationalOffsetX, RotationalOffsetY
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
@@ -205,7 +205,7 @@ def generate_launch_description():
             output='screen',
             arguments=[
                 '0', '0', '0',
-                '1.5707', '-1.5707' ,'0',
+                '1.5707', '-1.5707', '0',
                 'oakd_rgb_camera_optical_frame',
                 [robot_name, '/oakd_rgb_camera_frame/rgbd_camera']
             ],