From 671142119abcceba7881c05c9d5a011637893ddd Mon Sep 17 00:00:00 2001 From: chyoo Date: Thu, 6 Aug 2026 15:13:13 +0900 Subject: [PATCH] fix: move MKMini Gazebo spawn from pillar --- src/nav2_turtlebot_simulator/launch/simulator.launch.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/nav2_turtlebot_simulator/launch/simulator.launch.py b/src/nav2_turtlebot_simulator/launch/simulator.launch.py index 6ea24df..f437fcd 100644 --- a/src/nav2_turtlebot_simulator/launch/simulator.launch.py +++ b/src/nav2_turtlebot_simulator/launch/simulator.launch.py @@ -371,6 +371,8 @@ def launch_gazebo(context): # The world obstacles are spread out for MKMini, but the original # TurtleBot spawn is already inside the navigable centre of that map. # Scaling it as well placed the robot against the generated map edge. + if spawn_x == '-2.0' and spawn_y == '-0.5': + spawn_x = '-1.4' # Gazebo's fixed joint does not reliably publish this transform to the # separate SLAM container. Publish the sensor mounting point explicitly. static_transforms = [