From f7fe82a3acdb1dcb62e8b480b6a02cb3b2cf8c85 Mon Sep 17 00:00:00 2001 From: Naman Malik Date: Mon, 9 Sep 2024 04:59:33 +0530 Subject: [PATCH] Added XACRO to dependencies, corrected demo launch file (#46) --- custom_gz_plugins/dependencies_source_pkgs.repos | 4 ++++ custom_gz_plugins/launch/demo_world.launch.py | 8 +++++++- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/custom_gz_plugins/dependencies_source_pkgs.repos b/custom_gz_plugins/dependencies_source_pkgs.repos index e7217510..6b137073 100644 --- a/custom_gz_plugins/dependencies_source_pkgs.repos +++ b/custom_gz_plugins/dependencies_source_pkgs.repos @@ -124,3 +124,7 @@ repositories: type: git url: https://github.com/ros2/yaml_cpp_vendor.git version: humble + xacro: + type: git + url: https://github.com/ros/xacro.git + version: ros2 diff --git a/custom_gz_plugins/launch/demo_world.launch.py b/custom_gz_plugins/launch/demo_world.launch.py index c2930a33..316b5974 100644 --- a/custom_gz_plugins/launch/demo_world.launch.py +++ b/custom_gz_plugins/launch/demo_world.launch.py @@ -22,7 +22,9 @@ def generate_launch_description(): ':'.join([environ.get('GZ_SIM_SYSTEM_PLUGIN_PATH', default=''), environ.get('LD_LIBRARY_PATH', default='')]), 'GZ_SIM_RESOURCE_PATH': - ':'.join([mars_rover_demos_path, mars_rover_models_path + '/models'])} + ':'.join([mars_rover_demos_path, + mars_rover_models_path + '/models', + mars_rover_demos_path + '/worlds'])} urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path', 'urdf', 'curiosity_mars_rover.xacro.urdf') @@ -77,6 +79,10 @@ def generate_launch_description(): arguments=[ '-name', 'curiosity_path', '-topic', robot_description, + "-z", "4", + "-x", "0", + "-y", "0", + "-Y", "0", ], output='screen' )