Align MKMini Gazebo steering and world scale

src/nav2_turtlebot_simulator/launch/simulator.launch.py

@@ -33,7 +33,7 @@ LOCAL_SUN_LIGHT = '''    <light type="directional" name="sun">
       <cast_shadows>false</cast_shadows><pose>0 0 10 0 0 0</pose><diffuse>0.8 0.8 0.8 1</diffuse><specular>0.2 0.2 0.2 1</specular><direction>-0.5 0.1 -0.9</direction>
     </light>'''
 
-MKMINI_WORLD_SPACING_SCALE = 1.6
+MKMINI_WORLD_SPACING_SCALE = 1.0
 
 
 def replace_house_visual_meshes_with_boxes(house_model):
@@ -177,7 +177,7 @@ def create_flat_house_world(gazebo_dir):
 
 
 def create_mkmini_world(gazebo_dir):
-    """Expand the TurtleBot3 obstacle layout without changing obstacle sizes."""
+    """Create the MKMini world variant without changing map-scale coordinates."""
     source_model_path = os.path.join(gazebo_dir, 'models', 'turtlebot3_world', 'model.sdf')
     models_dir = os.path.join(tempfile.gettempdir(), 'nav2_mkmini_models')
     model_dir = os.path.join(models_dir, 'turtlebot3_world_mkmini')
@@ -190,8 +190,8 @@ def create_mkmini_world(gazebo_dir):
         raise RuntimeError('turtlebot3_world model is missing from model.sdf')
     model.attrib['name'] = 'turtlebot3_world_mkmini'
 
-    # Only object positions change. Keeping their geometry unchanged widens the
-    # driving lanes for the larger MKMini collision footprint.
+    # Keep object geometry and coordinates aligned with the base world. MKMini
+    # clearance comes from its footprint and inflation configuration.
     for pose in model.findall('.//pose'):
         values = pose.text.split()
         if len(values) != 6: