add URMC 2025 gazebo world#250
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Summary of ChangesHello @gautz, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed! This pull request significantly expands the simulation capabilities by introducing a new, comprehensive Gazebo world designed for the URMC 2025 competition. It integrates a collection of custom-designed models to create a realistic and challenging environment for robot navigation and interaction. The changes also improve the initial placement control of the TurtleBot3 within any Gazebo world by allowing specification of its starting orientation. Highlights
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Code Review
This pull request adds a new Gazebo world urmc_2025 along with its associated launch files and models. The changes are a good starting point, but there are several critical issues that need to be addressed before merging. These include hardcoded absolute paths in SDF files, which will break model loading on other machines, and structural problems in the world file, such as invalid syntax and the inclusion of a simulation state block. I've left detailed comments on these issues with suggestions for how to fix them.
| <material> | ||
| <lighting>1</lighting> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> |
There was a problem hiding this comment.
Using a file:// URI is not portable and will likely fail on other systems. Please use a standard Gazebo material script (e.g., Gazebo/Grey which is already named) or include the material within your model and reference it with a model:// URI.
| <pose>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>/home/alexis/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/Circuit/meshes/virage.dae</uri> |
There was a problem hiding this comment.
This hardcoded absolute path will break model loading. Please use a relative model:// URI.
Suggested change
| <uri>/home/alexis/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/Circuit/meshes/virage.dae</uri> | |
| <uri>model://Virage/meshes/virage.dae</uri> |
| <pose>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>/home/alexis/Téléchargements/piste_droit_texture.dae</uri> |
There was a problem hiding this comment.
This hardcoded absolute path will break the model loading on any other machine. Please use a relative model:// URI. The referenced file piste_droit_texture.dae also does not appear to be included in this pull request. It should be added to the model's directory, for example, under a meshes subfolder.
Suggested change
| <uri>/home/alexis/Téléchargements/piste_droit_texture.dae</uri> | |
| <uri>model://PIste_droite_texture/meshes/piste_droit_texture.dae</uri> |
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| <state world_name='default'> | ||
| <sim_time>116 345000000</sim_time> | ||
| <real_time>32 693566475</real_time> | ||
| <wall_time>1525097329 747995208</wall_time> | ||
| <iterations>32558</iterations> | ||
| <model name='ground'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='ground'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| </model> | ||
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| <model name='tunnel_obstacle'> | ||
| <pose frame=''>-1.04145 -1.12671 0 0 -0 0</pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='obstacle_1'> | ||
| <pose frame=''>-0.61823 -1.33874 0.125 0 -0 0</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| <link name='obstacle_2'> | ||
| <pose frame=''>-1.36518 -1.41427 0.125 0 -0 0</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| <link name='obstacle_3'> | ||
| <pose frame=''>-1.14094 -0.627116 0.125 0 -0 0</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| </model> | ||
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| <model name='tunnel_wall'> | ||
| <pose frame=''>-0.964699 -1.03574 0 0 -0 0</pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='Wall_1'> | ||
| <pose frame=''>-1.91548 -1.005857 0 0 -0 1.5708</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| <link name='Wall_2'> | ||
| <pose frame=''>-0.994699 -1.92118 0 0 -0 0</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| <link name='Wall_3'> | ||
| <pose frame=''>-0.021303 -0.832071 0 0 -0 1.5708</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| <link name='Wall_4'> | ||
| <pose frame=''>-0.814699 -0.03074 0 0 -0 3.14159</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| </model> | ||
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| <model name='unit_box'> | ||
| <pose frame=''>-1.72 0.56 0.12 0 0 -0.0 </pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='traffic_bar'> | ||
| <pose frame=''>-1.72 0.56 0.12 0 0 -0.0 </pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>1.06648 0.03546 4.20605 2.1745 -1.41657 3.10996</acceleration> | ||
| <wrench>1.06648 0.03546 4.20605 0 -0 0</wrench> | ||
| </link> | ||
| <static>1</static> | ||
| </model> | ||
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| <model name='barrier_1'> | ||
| <pose frame=''>1.745246 0.106830 0.149991 0 -0 0</pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='link'> | ||
| <pose frame=''>1.745246 0.106830 0.149991 0 -0 0</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| </model> | ||
| <model name='barrier_2'> | ||
| <pose frame=''>1.191956 0.620539 0.149991 0 -0 0</pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='link'> | ||
| <pose frame=''>1.191956 0.620539 0.149991 0 -0 0</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| </model> | ||
| <model name='barrier_3'> | ||
| <pose frame=''>0.39 1.104 0.15 0 -0 1.596</pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='link'> | ||
| <pose frame=''>0.39 1.104 0.15 0 -0 1.596</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| </model> | ||
| <model name='barrier_4'> | ||
| <pose frame=''>0.20 1.90 0.15 0 -0 1.596</pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='link'> | ||
| <pose frame=''>0.20 1.90 0.15 0 -0 1.596</pose> | ||
| <velocity>0 0 0 0 -0 0</velocity> | ||
| <acceleration>0 0 0 0 -0 0</acceleration> | ||
| <wrench>0 0 0 0 -0 0</wrench> | ||
| </link> | ||
| </model> | ||
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| <light name='sun'> | ||
| <pose frame=''>0 0 10 0 -0 0</pose> | ||
| </light> | ||
| <light name='user_point_light_1'> | ||
| <pose frame=''>-1.648146 0.604519 1 0 -0 0</pose> | ||
| </light> | ||
| <light name='user_point_light_2'> | ||
| <pose frame=''>1.63854 1.69565 1 0 -0 0</pose> | ||
| </light> | ||
| <light name='user_point_light_3'> | ||
| <pose frame=''>0.42 -3.31 1 0 -0 0</pose> | ||
| </light> | ||
| </state> |
There was a problem hiding this comment.
This <state> block appears to be a snapshot of a running simulation and should be removed from the world definition file. Including a state block can lead to unexpected behavior, makes the world's initial configuration unpredictable, and makes the file difficult to maintain. Initial model poses should be defined in their respective <include> or <model> tags.
| <pose>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>/home/alexis/Téléchargements/piste_droit_texture.dae</uri> |
There was a problem hiding this comment.
This hardcoded absolute path will break the model loading on any other machine. Please use a relative model:// URI.
Suggested change
| <uri>/home/alexis/Téléchargements/piste_droit_texture.dae</uri> | |
| <uri>model://PIste_droite_texture/meshes/piste_droit_texture.dae</uri> |
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| <url>model://Piste_droite_texture/materials/scripts</url> | ||
| <url>model://Piste_droite_texture/materials/textures</url> |
There was a problem hiding this comment.
The model URI for scripts and textures seems incorrect. Based on other models in this PR, it should probably include the parent directories from the models folder, like model://turtlebot3_urmc_2025/meshes/PIste_droite_texture/... to be resolved correctly by Gazebo.
Suggested change
| <url>model://Piste_droite_texture/materials/scripts</url> | |
| <url>model://Piste_droite_texture/materials/textures</url> | |
| <url>model://turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/scripts</url> | |
| <url>model://turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/textures</url> |
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| <model name='tunnel_wall'> | ||
| <link name='Wall_1'> | ||
| <pose frame=''>-0.980783 0.049883 0 0 -0 1.5708</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='Wall_1_Visual'> | ||
| <pose frame=''>0 0 0.125 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1.8 0.05 0.25</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Grey</name> | ||
| </script> | ||
| <ambient>1 1 1 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| <collision name='Wall_1_Collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0.125 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1.8 0.05 0.25</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| <gravity>1</gravity> | ||
| </link> | ||
| <link name='Wall_2'> | ||
| <pose frame=''>0 -0.935438 0 0 -0 0</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='Wall_2_Visual'> | ||
| <pose frame=''>0 0 0.125 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1.8 0.05 0.25</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Grey</name> | ||
| </script> | ||
| <ambient>1 1 1 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| <collision name='Wall_2_Collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0.125 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1.8 0.05 0.25</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| <gravity>1</gravity> | ||
| </link> | ||
| <link name='Wall_3'> | ||
| <pose frame=''>0.943396 0.183669 0 0 -0 1.5708</pose> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>nan</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>nan</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>nan</izz> | ||
| </inertia> | ||
| <mass>0</mass> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| </inertial> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='Wall_3_Visual'> | ||
| <pose frame=''>0 0 0.125 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1.53699 0.05 0.25</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Grey</name> | ||
| </script> | ||
| <ambient>1 1 1 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| <collision name='Wall_3_Collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0.125 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1.53699 0.05 0.25</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| <gravity>1</gravity> | ||
| </link> | ||
| <link name='Wall_4'> | ||
| <pose frame=''>0.15 0.915 0 0 -0 3.14159</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='Wall_4_Visual'> | ||
| <pose frame=''>0 0 0.125 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1.58 0.05 0.25</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Grey</name> | ||
| </script> | ||
| <ambient>1 1 1 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| <collision name='Wall_4_Collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0.125 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1.58 0.05 0.25</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| <gravity>1</gravity> | ||
| </link> | ||
| <static>1</static> | ||
| <allow_auto_disable>1</allow_auto_disable> | ||
| <pose frame=''>-0.964699 -1.03574 0 0 -0 0</pose> | ||
| </model> | ||
|
|
||
| <model name='tunnel_obstacle'> | ||
| <link name='obstacle_1'> | ||
| <pose frame=''>0.42322 -0.212034 0.0 0 -0 0</pose> | ||
| <inertial> | ||
| <mass>0.0416663</mass> | ||
| <inertia> | ||
| <ixx>0.00098188</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.00098188</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.00046751</izz> | ||
| </inertia> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| </inertial> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <gravity>1</gravity> | ||
| <visual name='visual'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.1</radius> | ||
| <length>0.25</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <material> | ||
| <lighting>1</lighting> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Grey</name> | ||
| </script> | ||
| <ambient>0.3 0.3 0.3 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| <shader type='pixel'> | ||
| <normal_map>__default__</normal_map> | ||
| </shader> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.1</radius> | ||
| <length>0.46418</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| </link> | ||
| <link name='obstacle_2'> | ||
| <pose frame=''>-0.323729 -0.287563 0.0 0 -0 0</pose> | ||
| <inertial> | ||
| <mass>0.0416663</mass> | ||
| <inertia> | ||
| <ixx>0.00098188</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.00098188</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.00046751</izz> | ||
| </inertia> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| </inertial> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <gravity>1</gravity> | ||
| <visual name='visual'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.1</radius> | ||
| <length>0.25</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <material> | ||
| <lighting>1</lighting> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Grey</name> | ||
| </script> | ||
| <ambient>0.3 0.3 0.3 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| <shader type='pixel'> | ||
| <normal_map>__default__</normal_map> | ||
| </shader> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.1</radius> | ||
| <length>0.46418</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| </link> | ||
| <link name='obstacle_3'> | ||
| <pose frame=''>-0.099492 0.499594 0.0 0 -0 0</pose> | ||
| <inertial> | ||
| <mass>0.0416663</mass> | ||
| <inertia> | ||
| <ixx>0.00098188</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.00098188</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.00046751</izz> | ||
| </inertia> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| </inertial> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <gravity>1</gravity> | ||
| <visual name='visual'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.1</radius> | ||
| <length>0.25</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <material> | ||
| <lighting>1</lighting> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Grey</name> | ||
| </script> | ||
| <ambient>0.3 0.3 0.3 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| <shader type='pixel'> | ||
| <normal_map>__default__</normal_map> | ||
| </shader> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.1</radius> | ||
| <length>0.46418</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| </link> | ||
| <static>1</static> | ||
| <allow_auto_disable>1</allow_auto_disable> | ||
| <pose frame=''>-1.04145 -1.12671 0 0 -0 0</pose> | ||
| </model> | ||
|
|
||
| <model name='barrier_1'> | ||
| <link name='link'> | ||
| <inertial> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>0.166667</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.166667</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.166667</izz> | ||
| </inertia> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| </inertial> | ||
| <self_collide>0</self_collide> | ||
| <enable_wind>0</enable_wind> | ||
| <kinematic>0</kinematic> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <gravity>1</gravity> | ||
| <visual name='visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.25 0.1 0.3</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <name>Gazebo/Grey</name> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| </script> | ||
| <shader type='pixel'> | ||
| <normal_map>__default__</normal_map> | ||
| </shader> | ||
| <ambient>0.3 0.3 0.3 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| </material> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <transparency>0</transparency> | ||
| <cast_shadows>1</cast_shadows> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.25 0.1 0.3</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| </link> | ||
| <static>0</static> | ||
| <allow_auto_disable>1</allow_auto_disable> | ||
| <pose frame=''>1.61222 1.02778 0.5 0 -0 0</pose> | ||
| </model> | ||
|
|
||
| <model name='barrier_2'> | ||
| <link name='link'> | ||
| <inertial> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>0.166667</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.166667</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.166667</izz> | ||
| </inertia> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| </inertial> | ||
| <self_collide>0</self_collide> | ||
| <enable_wind>0</enable_wind> | ||
| <kinematic>0</kinematic> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <gravity>1</gravity> | ||
| <visual name='visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.25 0.1 0.3</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <name>Gazebo/Grey</name> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| </script> | ||
| <shader type='pixel'> | ||
| <normal_map>__default__</normal_map> | ||
| </shader> | ||
| <ambient>0.3 0.3 0.3 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| </material> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <transparency>0</transparency> | ||
| <cast_shadows>1</cast_shadows> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.25 0.1 0.3</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| </link> | ||
| <static>0</static> | ||
| <allow_auto_disable>1</allow_auto_disable> | ||
| <pose frame=''>1.74483 0.998451 0.15 0 -0 0</pose> | ||
| </model> | ||
|
|
||
| <model name='barrier_3'> | ||
| <link name='link'> | ||
| <inertial> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>0.166667</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.166667</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.166667</izz> | ||
| </inertia> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| </inertial> | ||
| <self_collide>0</self_collide> | ||
| <enable_wind>0</enable_wind> | ||
| <kinematic>0</kinematic> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <gravity>1</gravity> | ||
| <visual name='visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.25 0.1 0.3</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <name>Gazebo/Grey</name> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| </script> | ||
| <shader type='pixel'> | ||
| <normal_map>__default__</normal_map> | ||
| </shader> | ||
| <ambient>0.3 0.3 0.3 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| </material> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <transparency>0</transparency> | ||
| <cast_shadows>1</cast_shadows> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.25 0.1 0.3</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| </link> | ||
| <static>0</static> | ||
| <allow_auto_disable>1</allow_auto_disable> | ||
| <pose frame=''>1.49021 1.46167 0.15 0 -0 0</pose> | ||
| </model> |
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These large, inline model definitions (e.g., tunnel_wall, tunnel_obstacle, barrier_*) make the world file very difficult to read and maintain. For better organization and reusability, please move each of these models into its own directory under turtlebot3_gazebo/models/ and include them using <include> tags, similar to how other models are handled at the top of this file. This will also resolve the issue of duplicate model definitions.
| # Launch configuration variables specific to simulation | ||
| x_pose = LaunchConfiguration('x_pose', default='0.0') | ||
| y_pose = LaunchConfiguration('y_pose', default='0.0') | ||
| yaw = LaunchConfiguration('yaw', default='0.0') |
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For consistency with x_pose and y_pose, you should also add a DeclareLaunchArgument for the new yaw parameter and add it to the LaunchDescription. This makes the launch file's arguments explicit and discoverable.
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| <!-- | ||
| <include> | ||
| <uri>model://ground_plane</uri> | ||
| </include> | ||
|
|
||
| <include> | ||
| <uri>model://sun</uri> | ||
| </include> --> |
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This file contains several large blocks of commented-out code (e.g., lines 4-11, 20-26, 28-47, 49-54, 90-94). Please remove them to keep the world file clean and readable.
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| # x_pose = LaunchConfiguration('x_pose', default='-1.75') | ||
| # y_pose = LaunchConfiguration('y_pose', default='0.2') | ||
| # yaw = LaunchConfiguration('yaw', default='1.57') |
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This commented-out code should be removed to improve readability and maintainability.
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