From 8e1439a52ce51a391dc24327dab1bd0575fe59ba Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Thu, 26 Sep 2024 21:05:59 -0700
Subject: [PATCH] Demo fixes (#16)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 README.md                             |  7 ++++++-
 ionic_demo/launch/tb4_spawn_launch.py |  2 +-
 ionic_demo/worlds/ionic.sdf           | 28 ---------------------------
 3 files changed, 7 insertions(+), 30 deletions(-)

diff --git a/README.md b/README.md
index d999794..5bff9ab 100644
--- a/README.md
+++ b/README.md
@@ -64,7 +64,11 @@ docker run --network host -it --rm \
   ghcr.io/gazebosim/ionic_demo_rmf_dashboard:main
 ```
 
-Start the API server docker image, make sure to note the `ROS_DOMAIN_ID` and `RMW_IMPLEMENTATION`. This starts the API server on `localhost:8000`.
+Start the API server docker image, make sure to note the
+[`ROS_DOMAIN_ID`](https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Domain-ID.html) and
+[`RMW_IMPLEMENTATION`](https://docs.ros.org/en/rolling/How-To-Guides/Working-with-multiple-RMW-implementations.html)
+environment variables. This starts the API server on `localhost:8000`.
+Example values: `ROS_DOMAIN_ID=1` and `RMW_IMPLEMENTATION=rmw_fastrtps_cpp`
 
 ```
 docker run --network host -it --rm \
@@ -72,6 +76,7 @@ docker run --network host -it --rm \
   -e RMW_IMPLEMENTATION=<RMW_IMPLEMENTATION> \
   ghcr.io/open-rmf/rmf-web/api-server:rolling
 ```
+
 The dashboard will be accessible at `localhost:3000` by default.
 
 Spawn the world and arm,
diff --git a/ionic_demo/launch/tb4_spawn_launch.py b/ionic_demo/launch/tb4_spawn_launch.py
index a845cc8..c386b65 100644
--- a/ionic_demo/launch/tb4_spawn_launch.py
+++ b/ionic_demo/launch/tb4_spawn_launch.py
@@ -133,7 +133,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(str(launch_dir / 'rviz_launch.py')),
         launch_arguments={
             'use_sim_time': 'True',
-            'rviz_config': str(ionic_demo_dir / 'rviz' / 'nav2_default_view.rviz'),
+            'rviz_config': str(ionic_demo_dir / 'configs' / 'nav2.rviz'),
             'namespace': namespace,
             'use_namespace': use_namespace,
         }.items(),
diff --git a/ionic_demo/worlds/ionic.sdf b/ionic_demo/worlds/ionic.sdf
index 38a168a..447b8c7 100644
--- a/ionic_demo/worlds/ionic.sdf
+++ b/ionic_demo/worlds/ionic.sdf
@@ -379,34 +379,6 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <light type="point" name="point_column_01">
-      <pose>0 1.75 1.75 0 0 0</pose>
-      <diffuse>1 1 1 1</diffuse>
-      <specular>1 1 1 1</specular>
-      <intensity>1</intensity>
-      <attenuation>
-        <range>20</range>
-        <linear>0.2</linear>
-        <constant>0.8</constant>
-        <quadratic>0.5</quadratic>
-      </attenuation>
-      <cast_shadows>false</cast_shadows>
-    </light>
-
-    <light type="point" name="point_column_02">
-      <pose>7.4 3.4 1.71 0 0 0</pose>
-      <diffuse>1 1 1 1</diffuse>
-      <specular>1 1 1 1</specular>
-      <intensity>1</intensity>
-      <attenuation>
-        <range>20</range>
-        <linear>0.2</linear>
-        <constant>0.8</constant>
-        <quadratic>0.5</quadratic>
-      </attenuation>
-      <cast_shadows>false</cast_shadows>
-    </light>
-
     <include>
       <name>Interior</name>
       <uri>interior</uri>